JP2016032611A - Exercise analysis device, exercise analysis system, exercise analysis method and exercise analysis program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an exercise analysis device, an exercise analysis system, an exercise analysis method, an exercise analysis program and the like capable of grasping exercise of a left-foot and a right-foot with a simple configuration.SOLUTION: An exercise analysis device 2 includes: an acquisition section 242 acquiring detection results from a sensor (inertia measurement unit 10) being mounted onto a user and detecting information related to exercise of the user; and a left/right determination section 243 performing determination processing determining whether it is a first period including a right-foot grounding period of the user or a second period including a left-foot grounding period of the user on the basis of the detection results.SELECTED DRAWING: Figure 9

Description

  The present invention relates to a motion analysis device, a motion analysis system, a motion analysis method, and a motion analysis program.

  In walking and running motions, it is important to take steps in an appropriate form with no bias in the left / right balance.

  Patent Document 1 discloses a walking / running motion evaluation support device that evaluates walking / running motion based on the output of a gyro sensor attached to each of a left foot and a right foot.

JP 2008-73285 A

  When sensors are attached to each of the left foot and the right foot as in Patent Document 1, two sensors are required, which increases the cost and also requires synchronization processing between the sensors. Moreover, when evaluating in real time, the communication process which communicates with the sensor of each leg | foot is also required.

  The present invention has been made in view of the above problems, and according to some aspects of the present invention, a motion analysis apparatus and a motion analysis system capable of grasping the motion of the left foot and the right foot with a simple configuration. A motion analysis method, a motion analysis program, and the like can be provided.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following aspects or application examples.

[Application Example 1]
The motion analysis apparatus according to this application example is attached to a user, an acquisition unit that acquires a detection result from a sensor that detects information related to the user's motion, and the right foot grounding of the user based on the detection result A left and right determination unit that performs a determination process for determining which period is a first period including a period and a second period including the user's left foot contact period.

  According to this application example, since the determination process can be performed even with one sensor, it is possible to realize a motion analysis apparatus that can grasp the motion of the left foot and the right foot with a simple configuration.

[Application Example 2]
In the motion analysis apparatus described above, the sensor may be an inertial sensor that detects at least one of an angle and an angular velocity.

  Since the inertial sensor can detect the fine movement of the user who is wearing it, even if there is only one sensor, it is possible to realize a motion analysis apparatus that can accurately grasp the motion of the left foot and the right foot.

[Application Example 3]
In the above motion analysis device, the left / right determination unit may perform the determination process based on an angular velocity in the yaw direction of the user.

  In the walking motion and the running motion, a rotational motion in the yaw direction is generated in the trunk. Therefore, according to this application example, it is possible to realize a motion analysis apparatus capable of accurately grasping the motion of the left foot and the right foot even with a single sensor.

[Application Example 4]
In the motion analysis apparatus described above, the left / right determination unit may perform the determination process based on acceleration in a direction orthogonal to both the user's traveling direction and the vertical direction.

  In the walking motion and the running motion, a direction perpendicular to the user's traveling direction and the vertical direction is generated. Therefore, according to this application example, it is possible to realize a motion analysis apparatus capable of accurately grasping the motion of the left foot and the right foot even with a single sensor.

[Application Example 5]
In the above motion analysis apparatus, the left / right determination unit may perform the determination process based on an angle of the user in the yaw direction.

  In the walking motion and the running motion, a rotational motion in the yaw direction is generated in the trunk. Therefore, according to this application example, it is possible to realize a motion analysis apparatus capable of accurately grasping the motion of the left foot and the right foot even with a single sensor.

[Application Example 6]
The above motion analysis apparatus may further include a travel detection unit that determines the travel timing of the user, and the left / right determination unit may perform the determination process based on the travel timing.

  According to this application example, since the determination process can be performed based on the running timing (for example, the timing of one step) and the detection result of the sensor, it is possible to realize a motion analysis device that can accurately grasp the motion of the left foot and the right foot.

[Application Example 7]
The above motion analysis apparatus further includes a calculation unit that calculates an index related to the user's movement, and the calculation unit calculates the index in the first period and the index in the second period separately. May be.

[Application Example 8]
In the motion analysis apparatus described above, the index may be at least one of true under landing, propulsion efficiency, leg flow, travel pitch, and landing impact.

  According to this application example, it is possible to realize a motion analysis apparatus that can provide the user with information related to the left / right balance of the user's motion.

[Application Example 9]
In the above motion analysis apparatus, the calculation unit may calculate a difference between the index in the first period and the index in the second period.

According to this application example, it is possible to realize a motion analysis apparatus that can easily provide information on the right and left balance of the user's motion to the user.

[Application Example 10]
The motion analysis apparatus described above may further include an output unit that outputs difference information that is information related to the difference when the difference is equal to or greater than a reference value.

  According to this application example, it is possible to realize a motion analysis apparatus that can notify a user or the like when the left-right balance of the user's motion is broken.

[Application Example 11]
The motion analysis system according to this application example is a motion analysis system including the motion analysis device described above and a notification device that outputs the difference information output by the motion analysis device.

  According to this application example, it is possible to realize a motion analysis system capable of notifying the user or the like when the left-right balance of the motion of the user is broken.

[Application Example 12]
The motion analysis method according to the application example includes an acquisition step of acquiring a detection result from a sensor that is attached to a user and detects information related to the user's motion, and based on the detection result, the user's right foot grounding It is a motion analysis method including a left and right determination step of performing a determination process for determining which period is a first period including a period and a second period including the user's left foot contact period.

  According to this application example, since the determination process can be performed even with one sensor, a motion analysis method that can grasp the motion of the left foot and the right foot with a simple configuration can be realized.

[Application Example 13]
The motion analysis program according to this application example is attached to a user, an acquisition unit that acquires a detection result from a sensor that detects information about the user's motion, and a right foot of the user based on the detection result A motion analysis program for causing a computer to function as a left / right determination unit that performs a determination process for determining which period is a first period including a contact period and a second period including a user's left foot contact period .

  According to this application example, since the determination process can be performed even with one sensor, it is possible to realize a motion analysis program that can grasp the motion of the left foot and the right foot with a simple configuration.

The figure which shows the structural example of the exercise | movement analysis system of this embodiment. Explanatory drawing about the outline | summary of the exercise | movement analysis system of this embodiment. The functional block diagram which shows the structural example of a motion analysis apparatus. The figure which shows the structural example of a sensing data table. The figure which shows the structural example of a GPS data table. The figure which shows the structural example of a geomagnetic data table. The figure which shows the structural example of a calculation data table. The functional block diagram which shows the structural example of the process part of a motion analysis apparatus. The functional block diagram which shows the structural example of an inertial navigation calculating part. Explanatory drawing about the attitude | position at the time of driving | running | working of a user. Explanatory drawing about the yaw angle at the time of a user's driving | running | working. The figure for demonstrating a 1st period and a 2nd period. The graph which shows the angular velocity of a yaw direction. It is a graph which shows a y-axis acceleration. The figure which shows an example of the triaxial acceleration at the time of a user's driving | running | working. The functional block diagram which shows the structural example of a motion analysis part. The flowchart figure which shows an example of the procedure of the exercise | movement analysis process which a process part performs. The flowchart figure which shows an example of the procedure of an inertial navigation calculation process. The flowchart figure which shows an example of the procedure of a driving | running | working detection process. The flowchart figure which shows an example of the procedure of a determination process. The flowchart figure which shows an example of the procedure of exercise | movement analysis information generation processing (process of S50 of FIG. 17). FIG. 3 is a functional block diagram illustrating a configuration example of a notification device 3. 23A and 23B are diagrams illustrating examples of information displayed on the display unit of the notification device. The flowchart figure which shows an example of the procedure of the alerting | reporting process which a process part performs. The functional block diagram which shows the structural example of an information analyzer. The flowchart figure which shows an example of the procedure of the analysis process which a process part performs. 6 is a diagram illustrating an example of analysis information displayed on a display unit 270. FIG.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. The drawings used are for convenience of explanation. The embodiments described below do not unduly limit the contents of the present invention described in the claims. Also, not all of the configurations described below are essential constituent requirements of the present invention.

1. Motion analysis system 1-1. In the following, a motion analysis system that analyzes a user's movement (including walking) will be described as an example. However, the movement analysis system of the present embodiment is a motion analysis that analyzes movements other than running. The same applies to the system. FIG. 1 is a diagram illustrating a configuration example of a motion analysis system 1 according to the present embodiment. As shown in FIG. 1, the motion analysis system 1 according to the present embodiment includes a motion analysis device 2, a notification device 3, and an information analysis device 4. The motion analysis device 2 is a device that analyzes the motion of the user while traveling, and the notification device 3 is a device that notifies the user of the state of motion during travel and information on the travel results. The information analysis device 4 is a device that analyzes and presents a traveling result after the user finishes traveling. In the present embodiment, as shown in FIG. 2, the motion analysis apparatus 2 includes an inertial measurement unit (IMU) 10 and an inertial measurement unit (IMU) 10 in a state where the user is stationary. Attached to the user's torso (for example, right waist, left waist, or the center of the waist) so that one detection axis (hereinafter referred to as the z-axis) is substantially aligned with the gravitational acceleration direction (vertically downward) Is done. The notification device 3 is a wrist-type (wristwatch-type) portable information device and is worn on the wrist of the user. However, the notification device 3 may be a portable information device such as a head mounted display (HMD) or a smartphone.

  The user operates the notification device 3 at the start of traveling to instruct the start of measurement (inertial navigation calculation processing and motion analysis processing described later) by the motion analysis device 2, and operates the notification device 3 at the end of travel to analyze the motion. The end of measurement by the apparatus 2 is instructed. The notification device 3 transmits a command for instructing the start and end of measurement to the motion analysis device 2 in accordance with a user operation.

When the motion analysis device 2 receives a measurement start command, the motion analysis device 2 starts measurement by the inertial measurement unit (IMU) 10 and is an index related to the user's running ability (an example of athletic ability) using the measurement result. Various motion index values are calculated, and motion analysis information including various motion index values is generated as information on the analysis results of the user's running motion. The motion analysis device 2 uses the generated motion analysis information to generate information to be output while the user is traveling (running output information), and transmits the information to the notification device 3. The notification device 3 receives the traveling output information from the motion analysis device 2, compares the values of various motion indices included in the traveling output information with each reference value set in advance, Inform the user of good or bad exercise index. Thereby, the user can travel while recognizing whether each exercise index is good or bad.

  In addition, when the motion analysis device 2 receives the measurement end command, the motion analysis device 2 ends the measurement by the inertial measurement unit (IMU) 10 and generates information on the travel result of the user (travel result information: travel distance, travel speed). To the notification device 3. The notification device 3 receives the travel result information from the motion analysis device 2 and notifies the user of the travel result information as characters or images. Thereby, the user can recognize the information of a driving result immediately after completion | finish of driving | running | working.

  Note that data communication between the motion analysis device 2 and the notification device 3 may be wireless communication or wired communication.

  As shown in FIG. 1, in this embodiment, the motion analysis system 1 includes a server 5 connected to a network such as the Internet or a LAN (Local Area Network). The information analysis device 4 is, for example, an information device such as a personal computer or a smartphone, and can perform data communication with the server 5 via a network. The information analysis device 4 acquires the motion analysis information of the user's past travel from the motion analysis device 2 and transmits it to the server 5 via the network. However, a device different from the information analysis device 4 may acquire the motion analysis information from the motion analysis device 2 and transmit it to the server 5, or the motion analysis device 2 may transmit the motion analysis information directly to the server 5. Good. The server 5 receives this motion analysis information and stores it in a database constructed in a storage unit (not shown). In the present embodiment, a plurality of users run while wearing the same or different motion analysis devices 2, and the motion analysis information of each user is stored in the database of the server 5.

  The information analysis device 4 acquires movement analysis information of a plurality of users from the database of the server 5 via the network, generates analysis information that can compare the running ability of the plurality of users, and displays the analysis information Part (not shown in FIG. 1). From the analysis information displayed on the display unit of the information analyzer 4, to evaluate the specific user's running ability relative to other users and to set the reference value of each exercise index appropriately Is possible. When the user sets the reference value for each exercise index, the information analysis device 4 transmits the setting information for the reference value for each exercise index to the notification device 3.

  In the motion analysis system 1, the motion analysis device 2, the notification device 3, and the information analysis device 4 are provided separately, the motion analysis device 2 and the notification device 3 are integrated and the information analysis device 4 is provided separately, or the notification device 3. And the information analysis device 4 are integrated and the motion analysis device 2 is provided separately, or the motion analysis device 2 and the information analysis device 4 are integrated and the notification device 3 is provided separately. The device 4 may be integrated. The motion analysis device 2, the notification device 3, and the information analysis device 4 may be in any combination.

1-2. Coordinate system The coordinate system required in the following description is defined.
・ E-frame (Earth Centered Earth Fixed Frame): 3D Cartesian coordinates of right-handed system with the center of the earth as the origin and z-axis parallel to the rotation axis ・ n-frame (Navigation Frame): Mobile object (user) Three-dimensional Cartesian coordinate system with the origin as the north, x-axis as east, y-axis as east, and z-axis as gravitational direction ・ B frame (Body Frame): Three-dimensional orthogonal based on the sensor (Inertial Measurement Unit (IMU) 10) Coordinate system-m frame (Moving Frame): A right-handed three-dimensional orthogonal coordinate system with the moving body (user) as the origin and the moving direction of the moving body (user) as the x axis.

1-3. Motion analysis device 1-3-1. Configuration of Motion Analysis Device FIG. 3 is a functional block diagram illustrating a configuration example of the motion analysis device 2. As shown in FIG. 3, the motion analysis apparatus 2 includes an inertial measurement unit (IMU) 10, a processing unit 20, a storage unit 30, a communication unit 40, a GPS (Global Positioning System) unit 50, and a geomagnetic sensor 60. ing. However, the motion analysis apparatus 2 of the present embodiment may have a configuration in which some of these components are deleted or changed, or other components are added.

  The inertial measurement unit 10 (an example of an inertial sensor) includes an acceleration sensor 12, an angular velocity sensor 14, and a signal processing unit 16.

  The acceleration sensor 12 detects each acceleration in the three-axis directions that intersect (ideally orthogonal) with each other, and outputs a digital signal (acceleration data) corresponding to the magnitude and direction of the detected three-axis acceleration.

  The angular velocity sensor 14 detects angular velocities in the three axial directions that intersect (ideally orthogonal) with each other, and outputs a digital signal (angular velocity data) corresponding to the magnitude and direction of the measured three axial angular velocities.

  The signal processing unit 16 receives acceleration data and angular velocity data from the acceleration sensor 12 and the angular velocity sensor 14, respectively, attaches time information to the storage unit (not shown), and stores the stored acceleration data, angular velocity data, and time information. Sensing data matching a predetermined format is generated and output to the processing unit 20.

  The acceleration sensor 12 and the angular velocity sensor 14 are ideally attached so that each of the three axes coincides with the three axes of the sensor coordinate system (b frame) with the inertial measurement unit 10 as a reference. Error occurs. Therefore, the signal processing unit 16 performs a process of converting the acceleration data and the angular velocity data into data of the sensor coordinate system (b frame) using a correction parameter calculated in advance according to the attachment angle error. Note that the processing unit 20 described later may perform the conversion process instead of the signal processing unit 16.

  Further, the signal processing unit 16 may perform temperature correction processing of the acceleration sensor 12 and the angular velocity sensor 14. Note that the processing unit 20 to be described later may perform the temperature correction processing instead of the signal processing unit 16, and the acceleration sensor 12 and the angular velocity sensor 14 may incorporate a temperature correction function.

  The acceleration sensor 12 and the angular velocity sensor 14 may output analog signals. In this case, the signal processing unit 16 performs A / D conversion on the output signal of the acceleration sensor 12 and the output signal of the angular velocity sensor 14, respectively. Then, sensing data may be generated.

  The GPS unit 50 (an example of a sensor) receives a GPS satellite signal transmitted from a GPS satellite, which is a kind of positioning satellite, performs a positioning calculation using the GPS satellite signal, and positions the user in n frames. Then, the speed (vector including magnitude and direction) is calculated, and GPS data with time information and positioning accuracy information added thereto is output to the processing unit 20. In addition, since the method of calculating a position and speed and the method of generating time information using GPS are publicly known, detailed description is omitted.

  The geomagnetic sensor 60 (an example of a sensor) detects each geomagnetism in three axial directions intersecting each other (ideally orthogonal), and a digital signal (geomagnetic data) corresponding to the magnitude and direction of the detected triaxial geomagnetism. ) Is output. However, the geomagnetic sensor 60 may output an analog signal. In this case, the processing unit 20 may A / D convert the output signal of the geomagnetic sensor 60 to generate geomagnetic data.

  The communication unit 40 performs data communication with the communication unit 140 (see FIG. 22) of the notification device 3 and the communication unit 440 (see FIG. 25) of the information analysis device 4, and the communication unit 140 of the notification device 3. A process of receiving a command (measurement start / measurement end command, etc.) transmitted from, and sending it to the processing unit 20, receiving the running output information and travel result information generated by the processing unit 20, and receiving the communication unit 140 of the notification device 3. , A motion analysis information transmission request command is received from the communication unit 440 of the information analysis device 4 and sent to the processing unit 20, and the motion analysis information is received from the processing unit 20 to communicate with the communication unit 440 of the information analysis device 4. Process to send to.

  The processing unit 20 is configured by, for example, a CPU (Central Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), and the like, and according to various programs stored in the storage unit 30 (recording medium). Performs arithmetic processing and control processing. In particular, when receiving a measurement start command from the notification device 3 via the communication unit 40, the processing unit 20 senses sensing data from the inertial measurement unit 10, the GPS unit 50, and the geomagnetic sensor 60, respectively, until a measurement end command is received. The GPS data and the geomagnetic data are received, and the speed and position of the user, the posture angle of the trunk, etc. are calculated using these data. In addition, the processing unit 20 performs various arithmetic processes using the calculated information, analyzes the user's motion, generates various motion analysis information described later, and stores the information in the storage unit 30. In addition, the processing unit 20 performs processing to generate output information and traveling result information during traveling using the generated motion analysis information and send it to the communication unit 40.

  In addition, when the processing unit 20 receives the motion analysis information transmission request command from the information analysis device 4 via the communication unit 40, the processing unit 20 reads the motion analysis information specified by the transmission request command from the storage unit 30 and transmits the information to the communication unit 40. Processing to send to the communication unit 440 of the analyzer 4 is performed.

  The storage unit 30 includes, for example, a ROM (Read Only Memory), a flash ROM, a recording medium that stores programs and data such as a hard disk and a memory card, and a RAM (Random Access Memory) that is a work area of the processing unit 20. Is done. The storage unit 30 (any recording medium) stores a motion analysis program 300 that is read by the processing unit 20 and executes a motion analysis process (see FIG. 17). The motion analysis program 300 includes an inertial navigation calculation program 302 for executing inertial navigation calculation processing (see FIG. 18) and a motion analysis information generation program 304 for executing motion analysis information generation processing (see FIG. 21) as subroutines. Including.

  The storage unit 30 also stores a sensing data table 310, a GPS data table 320, a geomagnetic data table 330, a calculation data table 340, motion analysis information 350, and the like.

The sensing data table 310 is a data table that stores sensing data (detection results of the inertial measurement unit 10) received by the processing unit 20 from the inertial measurement unit 10 in time series. FIG. 4 is a diagram illustrating a configuration example of the sensing data table 310. As shown in FIG. 4, the sensing data table 310 includes the sensing data associated with the detection time 311 of the inertial measurement unit 10, the acceleration 312 detected by the acceleration sensor 12, and the angular velocity 313 detected by the angular velocity sensor 14. It is arranged in series. When the processing unit 20 starts the measurement, the sampling unit Δt (for example, 20 ms or 1
0 ms), new sensing data is added to the sensing data table 310. Further, the processing unit 20 corrects the acceleration and the angular velocity using the acceleration bias and the angular velocity bias estimated by the error estimation using the extended Kalman filter (described later), and overwrites the corrected acceleration and the angular velocity, thereby sensing data table. 310 is updated.

  The GPS data table 320 is a data table that stores the GPS data (the detection result of the GPS unit (GPS sensor) 50) received by the processing unit 20 from the GPS unit 50 in time series. FIG. 5 is a diagram illustrating a configuration example of the GPS data table 320. As shown in FIG. 5, the GPS data table 320 includes a time 321 when the GPS unit 50 performs a positioning calculation, a position 322 calculated by the positioning calculation, a speed 323 calculated by the positioning calculation, and a positioning accuracy (DOP (Dilution of Precision). 324, GPS data associated with the signal strength 325 of the received GPS satellite signal is arranged in time series. When measurement is started, the processing unit 20 adds new GPS data and updates the GPS data table 320 every time GPS data is acquired (for example, every second, asynchronously with sensing data acquisition timing). .

  The geomagnetic data table 330 is a data table that stores the geomagnetic data (detection results of the geomagnetic sensor 60) received by the processing unit 20 from the geomagnetic sensor 60 in time series. FIG. 6 is a diagram illustrating a configuration example of the geomagnetic data table 330. As shown in FIG. 6, the geomagnetic data table 330 is configured by arranging time-series geomagnetic data in which the detection time 331 of the geomagnetic sensor 60 and the geomagnetism 332 detected by the geomagnetic sensor 60 are associated with each other. When the measurement is started, the processing unit 20 adds new geomagnetic data to the geomagnetic data table 330 every time a sampling period Δt (for example, 10 ms) elapses.

  The calculated data table 340 is a data table that stores the speed, position, and attitude angle calculated by the processing unit 20 using the sensing data in time series. FIG. 7 is a diagram illustrating a configuration example of the calculation data table 340. As illustrated in FIG. 7, the calculation data table 340 is configured by calculating data in which time 341, speed 342, position 343, and attitude angle 344 calculated by the processing unit 20 are associated in time series. When the measurement is started, the processing unit 20 calculates the speed, position, and orientation angle every time sensing data is acquired, that is, every time the sampling period Δt elapses, and new calculation data is stored in the calculation data table 340. Append. Further, the processing unit 20 corrects the speed, the position, and the attitude angle using the speed error, the position error, and the attitude angle error estimated by the error estimation using the extended Kalman filter, and the corrected speed, position, and attitude are corrected. The calculated data table 340 is updated by overwriting the corner.

  The exercise analysis information 350 is various information regarding the user's exercise, and each item of the input information 351, each item of the basic information 352, each item of the first analysis information 353, and second analysis information generated by the processing unit 20. Each item of 354, each item of left-right difference rate 355, etc. are included. Details of these various types of information will be described later.

1-3-2. Functional Configuration of Processing Unit FIG. 8 is a functional block diagram illustrating a configuration example of the processing unit 20 of the motion analysis apparatus 2. In the present embodiment, the processing unit 20 functions as the inertial navigation calculation unit 22 and the motion analysis unit 24 by executing the motion analysis program 300 stored in the storage unit 30. However, the processing unit 20 may receive and execute the motion analysis program 300 stored in an arbitrary storage device (recording medium) via a network or the like.

The inertial navigation calculation unit 22 performs inertial navigation calculation using sensing data (detection result of the inertial measurement unit 10), GPS data (detection result of the GPS unit 50), and geomagnetic data (detection result of the geomagnetic sensor 60), Acceleration, angular velocity, speed, position, posture angle, distance,
The stride and the running pitch are calculated, and calculation data including these calculation results is output. The calculation data output from the inertial navigation calculation unit 22 is stored in the storage unit 30 in order of time. Details of the inertial navigation calculation unit 22 will be described later.

  The motion analysis unit 24 analyzes the motion of the user while running using the computation data output from the inertial navigation computation unit 22 (calculation data stored in the storage unit 30), and the motion that is the analysis result information Analysis information (to be described later, input information, basic information, first analysis information, second analysis information, right / left difference ratio, etc.) is generated. The motion analysis information generated by the motion analysis unit 24 is stored in the storage unit 30 in time order while the user is traveling.

  In addition, the motion analysis unit 24 is information that is output while the user is traveling (specifically, from when the inertial measurement unit 10 starts measurement to when it ends) using the generated motion analysis information. Generate travel output information. The traveling output information generated by the motion analysis unit 24 is transmitted to the notification device 3 via the communication unit 40.

  In addition, the motion analysis unit 24 uses the motion analysis information generated during the travel, and the travel result that is the travel result information at the end of the travel of the user (specifically, at the end of the measurement of the inertial measurement unit 10). Generate information. The travel result information generated by the motion analysis unit 24 is transmitted to the notification device 3 via the communication unit 40.

1-3-3. Functional Configuration of Inertial Navigation Calculation Unit FIG. 9 is a functional block diagram illustrating a configuration example of the inertial navigation calculation unit 22. In the present embodiment, the inertial navigation calculation unit 22 includes a bias removal unit 210, an integration processing unit 220, an error estimation unit 230, a travel processing unit 240, and a coordinate conversion unit 250. However, the inertial navigation calculation unit 22 of the present embodiment may have a configuration in which some of these components are deleted or changed, or other components are added.

Bias removal unit 210, the three-axis acceleration and 3 axis angular velocity contained in the newly acquired sensor data, respectively, by subtracting the acceleration bias b _a and angular velocity bias b _omega error estimation unit 230 estimates, the three-axis acceleration and A process of correcting the triaxial angular velocity is performed. Since the in the initial state immediately after the start of measurement no estimated value of the acceleration bias b _a and angular velocity bias b _omega, bias removal unit 210, as the initial state of the user is at rest, from the inertial measurement unit The initial bias is calculated using the sensing data.

Integration processing unit 220, the processing bias removal unit 210 calculates the speed ^{v e} of e frame from the acceleration corrected and the angular velocity, the position ^{p e} and orientation angle (roll angle phi _BE, pitch angle theta _BE, yaw angle [psi _BE) and I do. Specifically, the integration processing unit 220 first assumes that the initial state of the user is a stationary state, sets the initial speed to zero, or calculates the initial speed from the speed included in the GPS data. The initial position is calculated from the position included in the data. Further, the integration processing unit 220 calculates the initial values of the roll angle φ _be and the pitch angle θ _be by specifying the direction of the gravitational acceleration from the triaxial acceleration of the b frame corrected by the bias removal unit 210, and _converts the initial value of the GPS into the GPS data. The initial value of the yaw angle ψ _be is calculated from the included velocity, and is set as the initial posture angle of the e frame. When GPS data cannot be obtained, the initial value of the yaw angle ψ _be is set to zero, for example. Then, the integration processing unit 220 calculates an initial value of a coordinate transformation matrix (rotation matrix) C _b ^e from the b frame to the e frame represented by Expression (1) from the calculated initial attitude angle.

Then, the integration processing section 220, the integrated three-axis angular velocity bias removal unit 210 is corrected (rotation operation) and to calculate the coordinate transformation matrix C _b ^e, calculates the posture angle from the equation (2).

Further, the integration processing unit 220 uses the coordinate transformation matrix C _b ^e, the 3-axis acceleration of b frames bias removal unit 210 is corrected by converting the 3-axis acceleration of the e frame, integrated to remove the gravitational acceleration component calculate the velocity v ^e of e frame by. Further, the integration processing unit 220 calculates the position p ^{e of the} e frame by integrating the speed v ^e of the e frame.

Further, the integration processing section 220, speed error error estimator 230 estimates .delta.v ^e, using the position error .delta.p ^e and attitude angle error epsilon ^e velocity ^{v e,} processing and correction to correct the position ^{p e} and orientation angle processing is also performed for calculating was velocity v distance by integrating the ^e was.

Furthermore, the integration processing section 220, a coordinate transformation matrix _C ^b m to m frames from b-frame, the coordinate transformation matrix _C ^{e n} from the coordinate transformation matrix _C ^{e m} and e frames to m frames from e frame to n-frame calculate. These coordinate transformation matrices are used as coordinate transformation information for coordinate transformation processing of the coordinate transformation unit 250 described later.

The error estimation unit 230 uses the speed / position, posture angle calculated by the integration processing unit 220, acceleration and angular velocity corrected by the bias removal unit 210, GPS data, geomagnetic data, etc. Is estimated. In the present embodiment, the error estimation unit 230 estimates errors in velocity, posture angle, acceleration, angular velocity, and position using an extended Kalman filter. That is, the error estimator 230, the error (velocity error) .delta.v ^e of the velocity ^{v e} of the integration processing unit 220 is calculated, an error of the posture angle integration processing unit 220 is calculated (posture angle error) epsilon ^e, acceleration bias _{b a} the angular velocity bias b _omega and integration processing unit 220 is an error of the position p ^e calculated (position error) .delta.p ^e and extended Kalman filter state variables defining the state vector X as in equation (3).

  The error estimation unit 230 predicts a state variable included in the state vector X using a prediction formula of an extended Kalman filter. The prediction formula of the extended Kalman filter is expressed as in Equation (4). In Equation (4), the matrix Φ is a matrix that associates the previous state vector X with the current state vector X, and some of the elements are designed to change from moment to moment while reflecting the posture angle, position, and the like. The Q is a matrix representing process noise, and each element thereof is set to an appropriate value in advance. P is an error covariance matrix of state variables.

  Further, the error estimation unit 230 updates (corrects) the predicted state variable using the extended Kalman filter update formula. The extended Kalman filter update formula is expressed as shown in Formula (5). Z and H are an observation vector and an observation matrix, respectively, and the update equation (5) uses the difference between the actual observation vector Z and the vector HX predicted from the state vector X to correct the state vector X. Represents. R is an observation error covariance matrix, which may be a predetermined constant value or may be dynamically changed. K is a Kalman gain, and the smaller R is, the larger K is. From equation (5), the larger the K (the smaller R), the larger the amount of correction of the state vector X, and the smaller P.

  Examples of error estimation methods (state vector X estimation methods) include the following.

Error estimation method by correction based on attitude angle error:
FIG. 10 is an overhead view of the movement of the user when the user wearing the motion analysis device 2 on the right waist performs a running operation (straight forward). FIG. 11 is a diagram illustrating an example of the yaw angle (azimuth angle) calculated from the detection result of the inertial measurement unit 10 when the user performs a traveling operation (straight forward), where the horizontal axis represents time and the vertical axis represents The yaw angle (azimuth angle).

As the user moves, the attitude of the inertial measurement unit 10 with respect to the user changes at any time. When the user steps on the left foot, the inertial measurement unit 10 is inclined to the left with respect to the traveling direction (the x axis of the m frame) as shown in (1) and (3) in FIG. . On the other hand, when the user steps on the right foot, the inertial measurement unit 10 tilts to the right with respect to the traveling direction (the x axis of the m frame) as shown in (2) and (4) in FIG. It becomes a posture. That is, the posture of the inertial measurement unit 10 periodically changes every two steps, one step left and right, with the user's running operation. In FIG. 11, for example, the yaw angle is maximized when the right foot is stepped on (◯ in FIG. 11), and the yaw angle is minimized when the left foot is stepped on (● in FIG. 11). Therefore, the error can be estimated assuming that the previous posture angle (two steps before) and the current posture angle are equal and the previous posture angle is a true posture. In this method, the observation vector Z in Equation (5) is the difference between the previous posture angle calculated by the integration processing unit 220 and the current posture angle, and the posture angle error ε ^e and the observed value are obtained by the update equation (5). The state vector X is corrected based on the difference between and the error is estimated.

Error estimation method by correction based on angular velocity bias:
This is a method of estimating an error on the assumption that the previous posture angle (two steps before) and the current posture angle are equal, but the previous posture angle does not have to be a true posture. In this way, an observation vector Z is the angular velocity bias integration processing unit 220 is calculated from the previous posture angle and the current attitude angles calculation of equation (5), the update equation (5), the angular velocity bias b _omega The state vector X is corrected based on the difference from the observed value, and the error is estimated.

Error estimation method by correction based on azimuth error:
The previous yaw angle (azimuth angle) and the current yaw angle (azimuth angle) are the same, and the previous yaw angle (azimuth angle) is the true yaw angle (azimuth angle). This is an estimation method. In this method, the observed vector Z is the difference between the previous yaw angle calculated by the integration processing unit 220 and the current yaw angle, and is based on the difference between the azimuth error ε _z ^e and the observed value by the update equation (5). The state vector X is corrected to estimate the error.

Error estimation method by correction based on stop:
This is a method of estimating the error on the assumption that the speed is zero at the time of stopping. In this method, the observation vector Z is the difference between the speed v ^e and zero integration processing unit 220 is calculated, the update equation (5), corrects the state vector X on the basis of the speed error .delta.v ^e, estimating the error To do.

Error estimation method by correction based on stillness:
This is a method of estimating the error on the assumption that the speed is zero and the posture change is zero at the time of stationary. In this method, the observation vector Z is the difference between the previous attitude angle and the current posture angle error and the integration processing unit 220 calculates the velocity v ^e of the integration processing unit 220 is calculated, the update equation (5), correcting the state vector X on the basis of the speed error .delta.v ^e and attitude angle error epsilon ^e, estimating the error.

Error estimation method by correction based on GPS observations:
It is assumed that the speed v ^e , the position p ^e or the yaw angle ψ _be calculated by the integration processing unit 220 and the speed, position or azimuth calculated from the GPS data (speed, position and azimuth converted to e frame) are equal. This is a method for estimating the error. In this method, the observation vector Z is the difference between the speed, position or yaw angle calculated by the integration processing unit 220 and the speed, position speed or azimuth calculated from the GPS data. .delta.v ^e, corrects the state vector X on the basis of the difference between the observed value and the position error .delta.p ^e or azimuth error epsilon _z ^e, estimating the error.

Error estimation method by correction based on observation values of geomagnetic sensor:
This is a method for estimating an error on the assumption that the yaw angle ψ _be calculated by the integration processing unit 220 is equal to the azimuth angle calculated from the geomagnetic sensor 60 (azimuth angle after being converted into the e frame). In this method, the observation vector Z is a difference between the yaw angle calculated by the integration processing unit 220 and the azimuth angle calculated from the geomagnetic data, and the azimuth error ε _z ^e and the observed value are calculated by the update equation (5). The state vector X is corrected based on the difference, and the error is estimated.

  Returning to FIG. 9, the travel processing unit 240 includes a calculation unit 241, a stride calculation unit 245, and a pitch calculation unit 246. The calculation unit 241 includes an acquisition unit 242, a left / right determination unit 243, and a travel detection unit 244.

  The acquisition unit 242 acquires the detection result from a sensor (for example, the inertial measurement unit 10) that is attached to the user and detects information related to the user's movement. In the example illustrated in FIG. 9, the acquisition unit 242 acquires sensing data via the bias removal unit 210.

  Based on the detection result (sensing data in the example shown in FIG. 9) acquired by the acquisition unit 242, the left / right determination unit 243 selects any one of the first period including the right foot contact period and the second period including the left foot contact period. The determination process which determines whether it is a period is performed.

  FIG. 12 is a diagram for explaining the first period and the second period. The horizontal axis of FIG. 12 is time.

  The right foot contact period is a period from the timing when the right foot lands to the timing when the right foot leaves. The left foot contact period is a period from the timing when the left foot lands to the timing when the left foot leaves. The first period is a period including one right foot contact period. The first period is a period that does not include the left foot contact period. The second period is a period including one left foot contact period. The second period is a period not including the right foot contact period.

  FIG. 13 is a graph showing the angular velocity in the yaw direction. In FIG. 13, the horizontal axis represents time, and the vertical axis represents the angular velocity in the yaw direction. In FIG. 13, when the angular velocity is a positive value, it represents a right rotation, and when the angular velocity is a negative value, it represents a left rotation.

  As shown in FIG. 10, when viewed from the user's overhead, the inertial measurement unit 10 steps out the right foot from the state where the user steps out the left foot (the state (1) or (3) in FIG. 10). Rotate clockwise until reaching the state (states (2) and (4) in FIG. 10), and conversely, rotate counterclockwise from the state of stepping on the right foot to the state of stepping on the left foot. . Therefore, the left / right determination unit 243 can determine the left / right travel cycle from the polarity of the z-axis angular velocity (the angular velocity in the yaw direction). Further, it is possible to determine the left or right traveling cycle based on the angle in the yaw direction of the user. Since the triaxial angular velocity detected by the inertial measurement unit 10 includes a high-frequency noise component, the left / right determination unit 243 uses the z-axis angular velocity from which noise has been removed by passing through a low-pass filter to travel either left or right. You may determine whether it is a period. For example, the left / right determination unit 243 may perform the determination process when the absolute value of the z-axis angular velocity is equal to or greater than a reference value. For example, the reference value may be about 60 degrees / second.

  FIG. 14 is a graph showing the y-axis acceleration. In FIG. 14, the horizontal axis represents time, and the vertical axis represents y-axis acceleration. In FIG. 14, when the y-axis acceleration is a positive value, it represents acceleration to the right, and when the y-axis acceleration is a negative value, it represents acceleration to the left.

When the right foot is grounded, the user's upper body accelerates to the left. When the left foot is in contact with the ground, the user's upper body accelerates to the right. Therefore, the left / right determination unit 243
From the polarity of the y-axis acceleration, it can be determined whether the driving cycle is left or right. Since the triaxial acceleration detected by the inertial measurement unit 10 includes a high-frequency noise component, the left / right determination unit 243 uses the y-axis acceleration from which noise has been removed by passing through a low-pass filter to travel either left or right. You may determine whether it is a period. For example, the left / right determination unit 243 may perform the determination process when the absolute value of the y-axis acceleration is equal to or greater than a reference value.

  The left / right determination unit 243 is not limited thereto, and may perform determination processing based on, for example, the y-axis speed, the posture angle (yaw angle), and the like.

  In addition, the left / right determination unit 243 outputs a left / right foot flag (for example, on for the right foot and off for the left foot) indicating whether the travel cycle is left or right according to the determination processing result.

  Returning to FIG. 9, the travel detection unit 244 detects the travel cycle (travel timing) of the user using the detection result of the inertial measurement unit 10 (specifically, the sensing data corrected by the bias removal unit 210). Process. As described with reference to FIGS. 10 and 11, since the posture of the user changes periodically (every two steps (every one step on the left and right)) when the user is traveling, the acceleration detected by the inertial measurement unit 10 is also a cycle. Changes. FIG. 15 is a diagram illustrating an example of the triaxial acceleration detected by the inertial measurement unit 10 when the user travels. In FIG. 15, the horizontal axis is time, and the vertical axis is the acceleration value. As shown in FIG. 15, it can be seen that the triaxial acceleration changes periodically, and in particular, the z-axis (axis in the direction of gravity) acceleration changes regularly with periodicity. This z-axis acceleration reflects the acceleration of the user's vertical movement, and the period from when the z-axis acceleration reaches a maximum value greater than a predetermined threshold to the next maximum value greater than the threshold is one step. It corresponds to a period.

  Therefore, in the present embodiment, the travel detection unit 244 performs the travel cycle every time the z-axis acceleration (corresponding to the user's vertical movement acceleration) detected by the inertial measurement unit 10 reaches a maximum value equal to or greater than a predetermined threshold. Is detected. That is, the travel detection unit 244 outputs a timing signal indicating that the travel cycle has been detected each time the z-axis acceleration reaches a maximum value that is equal to or greater than a predetermined threshold. Actually, since the triaxial acceleration detected by the inertial measurement unit 10 includes a high-frequency noise component, the traveling detection unit 244 uses the z-axis acceleration from which the noise has been removed by passing through the low-pass filter. Is detected.

  The left / right determination unit 243 may perform determination processing based on the detection result of the inertial measurement unit 10 and the travel timing detected by the travel detection unit 244. Thereby, the movement of the left foot and the right foot can be accurately grasped.

  The stride calculation unit 245 calculates the stride for each left and right using the timing signal and the left and right foot flags output by the travel detection unit 244 and the speed or position calculated by the integration processing unit 220, and calculates the stride for each left and right. Process to output as stride. That is, the stride calculation unit 245 integrates the speed for each sampling period Δt during the period from the start of the travel cycle to the start of the next travel cycle (or the position at the start of the travel cycle and the start of the next travel cycle). Calculate the stride (by calculating the difference from the time position) and output the stride as a stride.

  The pitch calculation unit 246 calculates the number of steps per minute using the timing signal of the running cycle output from the running detection unit 244, and performs a process of outputting the number of steps as a running pitch. That is, for example, the pitch calculation unit 246 calculates the number of steps per second by taking the reciprocal of the traveling cycle, and multiplies this by 60 to calculate the number of steps per minute (traveling pitch).

The coordinate conversion unit 250 uses the b-frame-to-m-frame coordinate conversion information (coordinate conversion matrix C _b ^m ) calculated by the integration processing unit 220, and the b-frame three-axis acceleration and 3 corrected by the bias removal unit 210. A coordinate conversion process for converting the axial angular velocity into the triaxial acceleration and the triaxial angular velocity of m frames is performed. Further, the coordinate conversion unit 250 uses the coordinate conversion information (coordinate conversion matrix C _e ^m ) from the e frame to the m frame calculated by the integration processing unit 220, and the three-axis directions of the e frame calculated by the integration processing unit 220 The coordinate conversion processing is performed to convert the three-axis attitude angle and the triaxial distance into the m-frame triaxial speed, the three-axis attitude angle and the triaxial distance, respectively. Also, the coordinate conversion unit 250 uses the coordinate conversion information (coordinate conversion matrix C _e ⁿ ) from the e frame to the n frame calculated by the integration processing unit 220 to determine the position of the e frame calculated by the integration processing unit 220 by n. A coordinate conversion process for converting the frame position is performed.

  Then, the inertial navigation calculation unit 22 receives information on acceleration, angular velocity, speed, position, posture angle and distance after the coordinate conversion by the coordinate conversion unit 250, stride, travel pitch, and left and right foot flags calculated by the travel processing unit 240. Is output (stored in the storage unit 30).

1-3-4. Functional Configuration of Motion Analysis Unit FIG. 16 is a functional block diagram illustrating a configuration example of the motion analysis unit 24. In the present embodiment, the motion analysis unit 24 includes a feature point detection unit 260, a contact time / impact time calculation unit 262, a basic information generation unit 272, a calculation unit 291 and an output unit 280. However, the motion analysis unit 24 of the present embodiment may have a configuration in which some of these components are deleted or changed, or other components are added.

  The feature point detection unit 260 performs processing for detecting feature points in the user's running motion using the calculation data. The feature point of the user's running motion is, for example, landing (when a part of the sole touches the ground, when the entire sole of the foot touches the ground, an arbitrary point while the toe is released from the heel of the foot) It may be set as appropriate, such as at any point in time, while the heel is released from the toes of the foot, while the sole of the foot is wearing, etc.), stepping on (the most weight is on the foot), releasing Ground (also called kicking out, when a part of the sole of the foot is separated from the ground, when the entire sole of the foot is separated from the ground, at any time while the toes are released from the heel of the foot, from the toes of the foot It may be set as appropriate, for example, at an arbitrary point in time while leaving the vehicle). Specifically, the feature point detection unit 260 separately detects the feature point in the right foot travel cycle and the feature point in the left foot travel cycle, using the left and right foot flags included in the calculation data. For example, the feature point detection unit 260 detects landing when the vertical acceleration (detected value of the z-axis of the acceleration sensor 12) changes from a positive value to a negative value, and after landing, the vertical acceleration is in a negative direction. It is possible to detect the depression when the traveling direction acceleration reaches a peak after the peak, and to detect the takeoff (kicking out) when the vertical acceleration changes from a negative value to a positive value.

  The contact time / impact time calculation unit 262 performs a process of calculating each value of the contact time and the impact time by using the calculation data as a reference when the feature point detection unit 260 detects the feature point. Specifically, the contact time / impact time calculation unit 262 determines whether the current calculation data is the calculation data of the right foot travel cycle or the left foot travel cycle from the left and right foot flags included in the calculation data, Based on the time point when the feature point detection unit 260 detects the feature point, each value of the contact time and the impact time is calculated separately for the right foot travel cycle and the left foot travel cycle. Details of the definition and calculation method of the contact time and impact time will be described later.

The basic information generation unit 272 performs processing for generating basic information related to the user's movement using information on acceleration, speed, position, stride, and travel pitch included in the calculation data. Here, the basic information includes items of travel pitch, stride, travel speed, altitude, travel distance, and travel time (lap time). Specifically, the basic information generation unit 272 outputs the traveling pitch and stride included in the calculation data as the traveling pitch and stride of the basic information, respectively. In addition, the basic information generation unit 272 uses a part or all of acceleration, speed, position, travel pitch, and stride included in the calculation data to calculate travel speed, altitude, travel distance, travel time (
The current value of the lap time) and the average value during driving are calculated.

  The calculation part 291 calculates the parameter | index regarding a user's exercise | movement. The calculation unit 291 may calculate the index in the first period and the index in the second period separately. For example, the calculation unit 291 may calculate the difference between the index in the first period and the index in the second period. In the present embodiment, the calculation unit 291 includes a first analysis information generation unit 274, a second analysis information generation unit 276, and a left / right difference rate calculation unit 278.

  The first analysis information generation unit 274 performs a process of analyzing the user's movement using the input information on the basis of the timing when the feature point detection unit 260 detects the feature point, and generating first analysis information.

  Here, the input information includes travel direction acceleration, travel direction speed, travel direction distance, vertical direction acceleration, vertical direction speed, vertical direction distance, lateral direction acceleration, lateral direction speed, lateral direction distance, posture angle (roll angle, pitch) (Angle, yaw angle), angular velocity (roll direction, pitch direction, yaw direction), running pitch, stride, contact time, impact time, and weight. The weight is input by the user, the contact time and impact time are calculated by the contact time / impact time calculation unit 262, and other items are included in the calculation data.

  Also, the first analysis information includes the landing brake amount (landing brake amount 1, landing brake amount 2), true under landing rate (true under landing rate 1, true under landing rate 2, true under landing rate 3), propulsive force (propulsion) (Force 1, propulsion 2), propulsion efficiency (propulsion efficiency 1, propulsion efficiency 2, propulsion efficiency 3, propulsion efficiency 4), kinetic energy, landing impact, running ability, forward tilt angle, timing coincidence and leg flow including. Each item of the first analysis information is an item representing a user's running state (an example of an exercise state). The definition of each item of the first analysis information and details of the calculation method will be described later.

  The first analysis information generation unit 274 calculates the value of each item of the first analysis information separately on the left and right sides of the user's body. Specifically, the first analysis information generation unit 274 determines the first analysis information according to whether the feature point detection unit 260 detects a feature point in the right foot travel cycle or a feature point in the left foot travel cycle. Are calculated separately for the right foot travel cycle and the left foot travel cycle. The first analysis information generation unit 274 also calculates the average value or the total value of the left and right for each item included in the first analysis information.

  The second analysis information generation unit 276 performs processing for generating second analysis information using the first analysis information generated by the first analysis information generation unit 274. Here, the second analysis information includes items of energy loss, energy efficiency, and burden on the body. The definition of each item of the second analysis information and details of the calculation method will be described later. The second analysis information generation unit 276 calculates the value of each item of the second analysis information separately for the right foot travel cycle and the left foot travel cycle. In addition, the second analysis information generation unit 276 also calculates a left and right average value or total value for each item included in the second analysis information.

  The right / left difference rate calculation unit 278 is a value in the running cycle of the right foot for each of the running pitch, stride, contact time and impact time, all items of the first analysis information, and all items of the second analysis information included in the input information. And a value in the running cycle of the left foot is used to calculate a left / right difference rate that is an index indicating the left / right balance of the user's body. The definition of the left / right difference ratio and details of the calculation method will be described later.

  When the difference between the index in the first period and the index in the second period is greater than or equal to the reference value, the output unit 280 outputs difference information that is information regarding the difference. For example, the output unit 280 may output information on an index whose difference is equal to or greater than a reference as difference information.

  Further, the output unit 280 generates traveling output information that is information to be output while the user is traveling, using basic information, input information, first analysis information, second analysis information, right / left difference ratio, and the like. Perform output processing. The “running pitch”, “stride”, “contact time” and “impact time” included in the input information, all items of the first analysis information, all items of the second analysis information, and the left / right difference ratio are used. Is an exercise index used for evaluation of a person's running technique, and the output information during running includes information on values of some or all of these exercise indexes. The exercise index included in the traveling output information may be determined in advance or may be selectable by the user operating the notification device 3. The output information during traveling may include a part or all of the traveling speed, altitude, traveling distance, and traveling time (lap time) included in the basic information.

  Further, the output unit 280 generates travel result information that is information on the travel result of the user, using basic information, input information, first analysis information, second analysis information, right / left difference ratio, and the like. For example, the output unit 280 may generate travel result information including information on the average value of each motion index while the user is traveling (during measurement by the inertial measurement unit 10). The travel result information may include a part or all of travel speed, altitude, travel distance, and travel time (lap time). Further, the output unit 280 transmits output information during traveling to the notification device 3 while the user is traveling through the communication unit 40, and transmits traveling result information to the notification device 3 when the user finishes traveling. .

1-3-5. Input information Details of each item of the input information will be described below.

[Advance direction acceleration, vertical acceleration, horizontal acceleration]
The “traveling direction” is the traveling direction of the user (m-frame x-axis direction), the “vertical direction” is the vertical direction (m-frame z-axis direction), and the “left-right direction” is the traveling direction. The direction is perpendicular to the vertical direction (the y-axis direction of the m frame). The traveling direction acceleration, the vertical direction acceleration, and the horizontal direction acceleration are the acceleration in the x-axis direction, the acceleration in the z-axis direction, and the acceleration in the y-axis direction of the m frame, respectively, and are calculated by the coordinate conversion unit 250.

[Speed in traveling direction, vertical speed, horizontal speed]
The traveling direction speed, the up-down direction speed, and the left-right speed are the speed in the x-axis direction, the speed in the z-axis direction, and the speed in the y-axis direction of the m frame, respectively, and are calculated by the coordinate conversion unit 250. Alternatively, the traveling direction speed, the up-down direction speed, and the left-right direction speed can be calculated by integrating the traveling direction acceleration, the up-down direction acceleration, and the left-right direction acceleration, respectively.

[Angular velocity (roll direction, pitch direction, yaw direction)]
The angular velocity in the roll direction, the angular velocity in the pitch direction, and the angular velocity in the yaw direction are an angular velocity around the x axis, an angular velocity around the y axis, and an angular velocity around the z axis, respectively, and are calculated by the coordinate conversion unit 250.

[Attitude angle (roll angle, pitch angle, yaw angle)]
The roll angle, the pitch angle, and the yaw angle are respectively an attitude angle around the x-axis, an attitude angle around the y-axis, and an attitude angle around the z-axis that are output by the coordinate conversion unit 250. Calculated. Alternatively, the roll angle, the pitch angle, and the yaw angle can be calculated by integrating (rotating calculation) the angular velocity in the roll direction, the angular velocity in the pitch direction, and the angular velocity in the yaw direction.

[Advance distance, vertical distance, horizontal distance]
The traveling direction distance, the up-down direction distance, and the left-right direction distance are respectively the moving distance in the x-axis direction, the moving distance in the z-axis direction, and the moving distance in the z-axis direction from a desired position (for example, the position immediately before the user starts traveling) The movement distance in the y-axis direction is calculated by the coordinate conversion unit 250.

[Running pitch]
The travel pitch is an exercise index defined as the number of steps per minute, and is calculated by the pitch calculation unit 246. Alternatively, the traveling pitch can be calculated by dividing the distance in the traveling direction for one minute by the stride.

[stride]
The stride is an exercise index defined as the step length of one step, and is calculated by the stride calculation unit 245. Alternatively, the stride can be calculated by dividing the traveling direction distance for 1 minute by the traveling pitch.

[Grounding time]
The contact time is a motion index defined as the time taken from landing to takeoff (kicking out), and is calculated by the contact time / impact time calculation unit 262. Take off (kicking out) is when the toes leave the ground. Since the contact time is highly correlated with the traveling speed, it can be used as the running ability of the first analysis information.

[Shock time]
The impact time is a motion index defined as the time during which the impact generated by landing is applied to the body, and is calculated by the contact time / impact time calculation unit 262. Impact time = (time when traveling direction acceleration in one step is minimum−time of landing).

[body weight]
The body weight is the weight of the user, and the numerical value is input by the user operating the operation unit 150 (see FIG. 18) before traveling.

1-3-6. First Analysis Information Details of each item of the first analysis information calculated by the first analysis information generation unit 274 will be described below.

[Brake amount at landing 1]
The landing brake amount 1 is a motion index defined as a speed amount decreased by landing, and can be calculated by the landing brake amount 1 = (traveling direction speed before landing−traveling direction minimum speed after landing). The speed in the traveling direction decreases due to the landing, and the lowest point in the traveling direction speed after landing in one step is the lowest traveling direction speed.

[Brake amount at landing 2]
The brake amount 2 at the time of landing is an exercise index defined as the minimum acceleration amount minus the traveling direction generated by landing, and coincides with the minimum acceleration in the traveling direction after landing at one step. The lowest point in the traveling direction acceleration after landing in one step is the traveling direction minimum acceleration.

[True underland landing rate 1]
The underground landing rate 1 is an exercise index that expresses whether or not the user can land directly under the body. If you can land right under your body, the amount of braking at the time of landing will decrease and you will be able to run efficiently. Since the normal brake amount increases according to the speed, the brake amount alone is not sufficient as an index. However, since the true underland landing rate 1 is an index that can be expressed as a rate, the true underland landing rate 1 is the same even if the speed changes. Can be evaluated. When α = arctan (traveling direction acceleration at landing / vertical acceleration at landing) using the traveling direction acceleration at the time of landing (negative acceleration) and the vertical direction acceleration, the true bottom landing rate 1 = cos α × 100 (% ). Alternatively, an ideal angle α ′ is calculated using data of a plurality of people who travel fast, and the true under landing rate 1 = {1− | (α′−α) / α ′ |} × 100 (%). You can also

[True underland landing rate 2]
The underground landing rate 2 is a motion index that expresses whether or not the vehicle has landed directly under the body by the degree of speed reduction at the time of landing, and the true underland landing rate 2 = (minimum speed in the traveling direction after landing / velocity in the traveling direction immediately before landing) Calculated with x100 (%).

[True underland landing rate 3]
The direct landing rate 3 is an exercise index that expresses whether the landing has been performed directly under the body by the distance or time from the landing until the foot comes directly under the body. Underground landing rate 3 = (Distance in travel direction when feet are directly under the body−Distance in travel direction when landing), or Underground landing rate 3 = (Time when feet are directly under body−Time when landing) ). After landing (the point where the vertical acceleration changes from a positive value to a negative value), there is a timing when the vertical acceleration peaks in the negative direction, and this timing is determined as the timing (time) when the foot comes directly under the body can do.

  In addition to this, it may be defined as a true landing ratio 3 = arctan (distance from landing to the foot just below the body / height of the waist). Or, just below landing rate 3 = (1−distance from landing to just below the body / distance moved from landing to kicking up) × 100 (%) (distance moved while the foot was grounded) May be defined as the ratio of the distance from the landing to the foot just below the body). Or, just below landing rate 3 = (1—time from landing to just below the body / time to move from landing to kicking up) × 100 (%) (time to move while feet are grounded) It may be defined as the ratio of the time from landing to just below the body.

[Propulsion 1]
The propulsive force 1 is a motion index defined as a speed amount increased in the traveling direction by kicking the ground, and the propulsive force 1 = (maximum traveling direction speed after kicking−minimum traveling direction speed before kicking). Can be calculated.

[Propulsion 2]
The propulsive force 2 is a motion index defined as the maximum acceleration in the direction of travel generated by kicking, and coincides with the maximum acceleration in the direction of travel after kicking in one step.

[Propulsion efficiency 1]
The propulsion efficiency 1 is an exercise index indicating whether the kicking force is efficiently a propulsive force. Efficient driving will be possible if there is no useless vertical movement and useless horizontal movement. Normally, vertical movement and left-right movement increase with speed, so vertical movement and left-right movement alone are not sufficient as a motion index, but propulsion efficiency power 1 is a motion index that can be expressed as a rate. According to this, the same evaluation can be made even if the speed changes. The propulsion efficiency force 1 is calculated for each of the vertical direction and the horizontal direction. Using γ = arctan (vertical acceleration during kicking / traveling acceleration during kicking) using the vertical acceleration and kicking acceleration at the time of kicking, the vertical propulsion efficiency 1 = cos γ × 100 (% ). Alternatively, an ideal angle γ ′ is calculated using data of a plurality of people who travel fast, and the vertical propulsion efficiency 1 = {1- | (γ′−γ) / γ ′ |} × 100 (%) It can also be calculated. Similarly, if δ = arctan (lateral acceleration during kicking / traveling acceleration during kicking) using the lateral acceleration and the traveling acceleration during kicking, the propulsion efficiency in the lateral direction 1 = cos δ × 100 (%) can be calculated. Alternatively, an ideal angle δ ′ is calculated using data of a plurality of people who travel fast, and the propulsion efficiency in the left-right direction is 1 = {1− | (δ′−δ) / δ ′ |} × 100 (%). It can also be calculated.

  In addition, vertical propulsion efficiency 1 can be calculated by replacing γ with arctan (velocity in the vertical direction at the time of kicking / speed in the traveling direction at the time of kicking). Similarly, the propulsion efficiency 1 in the left-right direction can be calculated by replacing δ with arctan (the speed in the left-right direction at the time of kicking / the speed in the moving direction at the time of kicking).

[Propulsion efficiency 2]
The propulsion efficiency 2 is an exercise index that indicates whether the kicking force is efficiently a propulsive force by using an acceleration angle at the time of depression. The propulsion efficiency 2 in the vertical direction is expressed as follows. When ξ = arctan (vertical acceleration at the time of depression / traveling direction acceleration at the time of depression) using the vertical acceleration and the acceleration in the traveling direction, the vertical driving efficiency 2 = Cosξ × 100 (%) can be calculated. Alternatively, an ideal angle ξ ′ is calculated using data of a plurality of people who travel fast, and the vertical propulsion efficiency 2 = {1− | (ξ′−ξ) / ξ ′ |} × 100 (%) It can also be calculated. Similarly, if η = arctan (left-right acceleration at the time of depression / travel-direction acceleration at the time of depression) using the left-right acceleration at the time of stepping and the traveling-direction acceleration, the propulsion efficiency in the left-right direction 2 = cos η × 100 (% ). Alternatively, an ideal angle η ′ is calculated using data of a plurality of people who travel fast, and the propulsion efficiency in the left-right direction 2 = {1− | (η′−η) / η ′ |} × 100 (%) It can also be calculated.

  In addition, the propulsion efficiency 2 in the vertical direction can also be calculated by replacing ξ with arctan (speed in the vertical direction during depression / speed in the traveling direction during depression). Similarly, η can be replaced with arctan (the speed in the left-right direction during depression / the speed in the traveling direction during depression) to calculate the left-right propulsion efficiency 2.

[Propulsion efficiency 3]
The propulsion efficiency 3 is an exercise index that indicates whether the kicking force is efficiently a propulsive force by using a jumping angle. Propulsion efficiency 3 can be calculated by equation (6), where H is the highest point in the vertical direction at one step (1/2 of the amplitude of the vertical direction) and X is the distance in the traveling direction from kicking to landing.

[Propulsion efficiency 4]
The propulsion efficiency 4 is an exercise index that expresses whether or not the kicking force is efficiently propelling force by the ratio of energy used to advance in the direction of travel with respect to the total energy generated in one step. Efficiency 4 = (energy used to travel in the traveling direction / energy used for one step) × 100 (%). This energy is the sum of potential energy and kinetic energy.

[Physical energy]
Kinetic energy is an exercise index defined as the amount of energy consumed to advance one step, and also represents an accumulation of the amount of energy consumed to advance one step during the travel period. Kinetic energy = (energy consumption in the vertical direction + energy consumption in the traveling direction + energy consumption in the left / right direction). Here, the energy consumption in the vertical direction = (weight × gravity × vertical distance) is calculated. Also, energy consumption in the traveling direction = [weight × {(maximum speed in the traveling direction after kicking out) ² − (minimum traveling direction speed after landing) ² } / 2]. Also, the energy consumption in the left-right direction = [body weight × {(maximum speed in the left-right direction after kicking out) ² − (minimum speed in the left-right direction after landing) ² } / 2].

[Landing impact]
The landing impact is a motion index indicating how much impact is applied to the body due to landing, and is calculated by landing impact = (vertical impact force + traveling direction impact force + left / right impact force). Here, the vertical impact force = (weight × vertical speed at landing / impact time). Further, the impact force in the traveling direction = {body weight × (traveling direction speed before landing−traveling direction minimum speed after landing) / impact time}. Also, the impact force in the left-right direction = {body weight × (left-right speed before landing−left-right minimum speed after landing) / impact time}.

[Running ability]
The running ability is an exercise index that represents the running ability of the user. For example, it is known that there is a correlation between the ratio between stride and contact time and the running record (time) ("About the contact time and takeoff time during a 100m race", Journal of Research and Development for Future Athletics.3 (1): 1-4, 2004.), running ability = (stride / contact time).

[Forward tilt]
The forward tilt angle is a motion index representing how much the user's torso is tilted with respect to the ground. The forward tilt angle when the user is standing perpendicular to the ground is 0 degree, the forward tilt angle when leaning forward is a positive value, and the forward tilt angle when sliding is a negative value. The forward tilt angle can be obtained by converting the pitch angle of the m frame so as to have the above specifications. When the motion analyzer 2 (inertial measurement unit 10) is attached to the user, there is a possibility that there is already a tilt. Therefore, it is assumed that the stationary state is 0 degrees in the left figure, and the forward tilt angle is determined by the amount of change from there. You may calculate.

[Timing coincidence]
The timing coincidence is an exercise index representing how close the timing of the feature point of the user is to a good timing. For example, an exercise index indicating how close the hip rotation timing is to the kicking timing is conceivable. In the running method with legs flowing, the reverse leg still remains behind the body when wearing one leg, so if the hip rotation timing comes after kicking out, it can be determined that the legs are flowing. If the hip rotation timing is almost the same as the kicking timing, it can be said that it is a good way to run. On the other hand, when the hip rotation timing is behind the kicking timing, it can be said that the leg is running.

[Leg flow]
The leg flow is an exercise index that indicates how far the kicked leg is at the next landing point. The leg flow is calculated, for example, as the angle of the femur of the back leg when landing. For example, an index correlated with the flow of the leg can be calculated, and the angle of the femur of the rear leg at the time of landing can be estimated from the index using a correlation equation obtained in advance.

  The index correlated with the flow of the legs is calculated by, for example, (time when the hips are turned to the maximum in the yaw direction−time when landing). “When the waist has turned to the maximum in the yaw direction” is the time when the next one-step motion starts. When the time from landing to the next movement is long, it can be said that it takes time to pull back the leg, and the phenomenon of the leg flowing occurs.

Alternatively, an index correlated with the flow of the legs is calculated by (yaw angle when waist is fully turned in the yaw direction−yaw angle when landing). If the yaw angle changes greatly from landing to the next movement,
There is an action to pull back the leg after landing, which appears in the change of yaw angle. Therefore, the phenomenon that the legs are flowing has occurred.

  Alternatively, the pitch angle at the time of landing may be used as an index correlated with the flow of the legs. When the legs are high backwards, the body (waist) tilts forward. Therefore, the pitch angle of the sensor attached to the waist increases. When the pitch angle is large at the time of landing, a phenomenon of legs flowing occurs.

1-3-7. Second Analysis Information Hereinafter, details of each item of the second analysis information calculated by the second analysis information generation unit 276 will be described.

[Energy loss]
Energy loss is an exercise index that represents the amount of energy that is wasted in the amount of energy consumed to advance one step, and the amount of energy that was wasted in the amount of energy consumed to advance one step. It also represents the accumulated travel period. Energy loss = {kinetic energy × (100−true landing rate) × (100−propulsion efficiency)}. Here, the true under landing rate is one of the true under landing rates 1 to 3, and the propulsion efficiency is any of the propulsion efficiencies 1 to 4.

[Energy efficiency]
The energy efficiency is an exercise index that indicates whether the energy consumed to advance one step is efficiently used for the energy that advances in the traveling direction, and also represents an accumulated value of the traveling period. Energy efficiency = {(kinetic energy−energy loss) / kinetic energy}.

[Body burden]
The burden on the body is an exercise index that indicates how much impact is accumulated in the body by accumulating landing impacts. Since injuries occur due to the accumulation of shocks, the ease of injury can be determined by evaluating the burden on the body. Calculated by the burden on the body = (the burden on the right leg + the burden on the left leg). The load on the right leg can be calculated by integrating the landing impact on the right leg. The burden on the left leg can be calculated by integrating the landing impact on the left leg. Here, integration is performed both during running and from the past.

1-3-8. Left / right difference ratio (left / right balance)
The left / right difference rate is an exercise index that indicates how much difference is seen on the left and right sides of the body for each item of the running pitch, stride, contact time, impact time, first analysis information and second analysis information, Let us represent how much the left leg differs from the right leg. Left / right difference ratio = (Left leg value / Right leg value x 100) (%). The values are travel pitch, stride, contact time, impact time, brake amount, propulsive force, true landing rate, propulsion efficiency. , Speed, acceleration, travel distance, forward tilt angle, leg flow, hip rotation angle, hip rotation angular velocity, left / right tilt amount, running ability, kinetic energy, energy loss, energy efficiency, landing impact, burden on the body Each numerical value of Further, the left / right difference rate includes an average value and variance of each numerical value.

1-3-10. Processing Procedure FIG. 17 is a flowchart showing an example of the procedure of the motion analysis processing performed by the processing unit 20. The processing unit 20 executes the motion analysis program 300 stored in the storage unit 30 to execute the motion analysis processing, for example, according to the procedure of the flowchart of FIG.

That is, the motion analysis program 300 is attached to the user and is based on the acquisition unit 242 that acquires a detection result from a sensor (for example, the inertial measurement unit 10) that detects information related to the user's motion and the acquired detection result. Thus, the left / right determination unit 24 performs a determination process for determining which period is the first period including the right foot contact period and the second period including the left foot contact period.
3 is a motion analysis program for causing the computer to function.

  In the present embodiment, an acquisition step of acquiring a detection result from a sensor (for example, the inertial measurement unit 10) that is attached to the user by the processing unit 20 and detects information related to the user's movement, and the acquired detection result. Based on the above, a motion analysis method is realized including a left / right determination step for performing a determination process for determining which period is a first period including a right foot contact period and a second period including a left foot contact period. ing.

  As illustrated in FIG. 17, the processing unit 20 waits until a measurement start command is received (N in S10). When a measurement start command is received (Y in S10), first, the user is stationary. Assuming that the initial attitude, the initial position, and the initial bias are calculated using the sensing data and the GPS data measured by the inertial measurement unit 10 (S20).

  Next, the processing unit 20 acquires sensing data from the inertial measurement unit 10, and adds the acquired sensing data to the sensing data table 310 (S30).

  Next, the processing unit 20 performs inertial navigation calculation processing, and generates calculation data including various types of information (S40). An example of the procedure of the inertial navigation calculation process will be described later.

  Next, the processing unit 20 performs exercise analysis information generation processing using the operation data generated in S40, and generates exercise analysis information (S50). An example of the procedure of the motion analysis information generation process will be described later.

  Next, the processing unit 20 generates traveling output information using the motion analysis information generated in S40 and transmits it to the notification device 3 (S60).

  Then, the processing unit 20 receives a sensing end command (N in S70 and N in S80) every time the sampling period Δt elapses after acquiring the previous sensing data (Y in S70), and after S30. Repeat the process.

  When receiving the measurement end command (Y in S80), the processing unit 20 generates travel result information using the motion analysis information generated in S50 and transmits it to the notification device 3 (S90), and ends the motion analysis processing. To do.

  FIG. 18 is a flowchart showing an example of the procedure of the inertial navigation calculation process (the process of S40 of FIG. 17). The processing unit 20 (inertial navigation calculation unit 22) executes the inertial navigation calculation program 302 stored in the storage unit 30, thereby executing the inertial navigation calculation process, for example, according to the procedure shown in the flowchart of FIG.

As shown in FIG. 18, first, the processing unit 20, after estimating the acceleration bias _{b a} and angular velocity bias b _omega in S150 by (described later using the initial bias calculated in S20 in FIG. 17, an acceleration bias _{b a} And the angular velocity bias _bω ), the bias is removed from the acceleration and angular velocity included in the sensing data acquired in S30 of FIG. 17 for correction, and the sensing data table 310 is updated with the corrected acceleration and angular velocity (S100). .

  Next, the processing unit 20 integrates the sensing data corrected in S100 to calculate the speed, position, and attitude angle, and adds calculation data including the calculated speed, position, and attitude angle to the calculation data table 340 (S110). ).

Next, the processing unit 20 performs a travel detection process (S120). An example of the procedure of the travel detection process will be described later.

  Next, when the traveling period is detected by the traveling detection process (S120) (Y in S130), the processing unit 20 calculates the traveling pitch and stride (S140). Moreover, the process part 20 does not perform the process of S140, when a driving cycle is not detected (N of S130).

Then, the processing unit 20 performs error estimation process, speed error .delta.v ^e, attitude angle error epsilon ^e, acceleration bias _{b a,} estimates the angular velocity bias b _omega and position error δp ^e (S150).

Then, the processing unit 20, the speed error .delta.v e estimated in ^S150, using the attitude angle error epsilon ^e and position error .delta.p ^e, speed, and corrects position and orientation angle of each corrected speed, position and attitude angle Thus, the calculation data table 340 is updated (S160). Further, the processing unit 20 integrates the speed corrected in S160, and calculates the distance of the e frame (S170).

  Next, the processing unit 20 detects sensing data (b frame acceleration and angular velocity) stored in the sensing data table 310, and calculated data (e frame velocity, position, and attitude angle) stored in the calculation data table 340. And the e-frame distance calculated in S170 are converted into m-frame acceleration, angular velocity, speed, position, posture angle, and distance, respectively (S180).

  Then, the processing unit 20 generates calculation data including left and right foot flags including m frame acceleration, angular velocity, speed, position, posture angle and distance, stride calculated in S140, and travel pitch after coordinate conversion in S180 (S190). ). The processing unit 20 performs this inertial navigation calculation processing (processing of S100 to S190) every time sensing data is acquired in S30 of FIG.

  FIG. 19 is a flowchart showing an example of the procedure of the travel detection process (the process of S120 in FIG. 18). The processing unit 20 (running detection unit 244) executes the running detection process, for example, according to the procedure shown in the flowchart of FIG.

  As shown in FIG. 19, the processing unit 20 performs low-pass filter processing on the z-axis acceleration included in the acceleration corrected in S100 of FIG. 18 (S200), and removes noise.

  Next, when the z-axis acceleration subjected to the low-pass filter processing in S200 is equal to or greater than the threshold value and the maximum value (Y in S210), the processing unit 20 detects the traveling cycle at this timing (S220).

  Next, the processing unit 20 performs a determination process (S230) and ends the travel detection process. In S230, the left and right foot flag is set by determining whether the travel cycle detected in S220 is the left or right travel cycle. If the z-axis acceleration is not less than the threshold value or the maximum value (N in S210), the processing unit 20 ends the traveling detection process without performing the processes after S220.

  FIG. 20 is a flowchart illustrating an example of the procedure of the determination process (the process of S230 in FIG. 19). The processing unit 20 (left / right determination unit 243) executes the determination process, for example, according to the procedure of the flowchart of FIG.

  As illustrated in FIG. 20, the processing unit 20 acquires the z-axis angular velocity as a detection result from the sensor (acquisition step), and performs low-pass filter processing on the z-axis angular velocity included in the angular velocity corrected in S100 of FIG. 18 (S251). ) Remove noise.

Next, when the z-axis angular velocity subjected to the low-pass filter process in S251 is a positive value and the absolute value is equal to or greater than the reference value (Y in S252), the processing unit 20 generates a flag corresponding to “left foot” as the left and right foot flag. (S253) The determination process is terminated.

  When the z-axis angular velocity is a positive value and the absolute value is not greater than or equal to the reference value (N in S252), the processing unit 20 performs the low-pass filter processing performed in S251 when the z-axis angular velocity is a negative value and the absolute value is greater than or equal to the reference value ( (Y in S254), a flag corresponding to “right foot” is generated as the left and right foot flag (S255), and the determination process is terminated.

  If the z-axis angular velocity is negative and the absolute value is not greater than or equal to the reference value (N in S254), the determination process is terminated without updating the left and right foot flags.

  FIG. 21 is a flowchart showing an example of the procedure of the motion analysis information generation process (the process of S50 in FIG. 17). The processing unit 20 (motion analysis unit 24) executes the motion analysis information generation program 304 by executing the motion analysis information generation program 304 stored in the storage unit 30, for example, according to the procedure of the flowchart of FIG.

  As shown in FIG. 21, first, the processing unit 20 calculates each item of basic information using the calculation data generated in the inertial navigation calculation process of S40 of FIG. 17 (S300).

  Next, the processing unit 20 performs detection processing of feature points (landing, stepping, takeoff, etc.) in the user's running motion using the calculation data (S310).

  When the feature point is detected in the process of S310 (Y of S320), the processing unit 20 calculates the contact time and the impact time based on the timing at which the feature point is detected (S330). Further, the processing unit 20 uses a part of the calculation data and the contact time and impact time generated in S330 as input information, and based on the timing at which the feature points are detected, some items (feature points for calculation). (Items requiring information) are calculated (S340). When the feature point is not detected in the process of S310 (N of S320), the processing unit 20 does not perform the processes of S330 and S340.

  Next, the processing unit 20 uses the input information to calculate other items of the first analysis information (items that do not require feature point information for calculation) (S350). In S350, the kinetic energy of the user is calculated.

  Next, the processing unit 20 calculates each item of the second analysis information using the first analysis information (S360).

  Next, the processing unit 20 calculates a left / right difference ratio for each item of the input information, each item of the first analysis information, and each item of the second analysis information (S370).

  Next, the processing unit 20 adds the current measurement time to each piece of information calculated in S300 to S370 and stores it in the storage unit 30 (S380), and ends the motion analysis information generation process.

1-4. Notification device 1-4-1. Configuration of Notification Device FIG. 22 is a functional block diagram illustrating a configuration example of the notification device 3. As shown in FIG. 22, the output unit 110 and the notification device 3 are configured to include an output unit 110, a processing unit 120, a storage unit 130, a communication unit 140, an operation unit 150, and a time measuring unit 160. However, the notification device 3 of the present embodiment may have a configuration in which some of these components are deleted or changed, or other components are added.

The storage unit 130 includes, for example, a recording medium that stores programs and data such as a ROM, a flash ROM, a hard disk, and a memory card, and a RAM that is a work area of the processing unit 120.

  The communication unit 140 performs data communication with the communication unit 40 (see FIG. 3) of the motion analysis apparatus 2, and commands (such as measurement start / measurement end commands) according to operation data from the processing unit 120. Is received and transmitted to the communication unit 40 of the motion analysis device 2, and the output information and the travel result information transmitted from the communication unit 40 of the motion analysis device 2 are received and sent to the processing unit 120.

  The operation unit 150 performs processing for acquiring operation data (operation data for measurement start / end of measurement, operation data for selecting display contents, etc.) from the user and sending it to the processing unit 120. The operation unit 150 may be, for example, a touch panel display, a button, a key, a microphone, or the like.

  The timer unit 160 performs processing for generating time information such as year, month, day, hour, minute, and second. The timer unit 160 is realized by a real time clock (RTC) IC, for example.

  The output unit 110 outputs difference information generated and output by the output unit 280 of the motion analysis apparatus 2. The output unit 110 may output an evaluation result described later. In the example shown in FIG. 22, the output unit 110 includes a display unit 170, a sound output unit 180, and a vibration unit 190.

  The display unit 170 displays the image data and text data sent from the processing unit 120 as characters, graphs, tables, animations, and other images. The display unit 170 is realized by a display such as an LCD (Liquid Crystal Display), an organic EL (Electroluminescence) display, or an EPD (Electrophoretic Display), and may be a touch panel display. Note that the functions of the operation unit 150 and the display unit 170 may be realized by a single touch panel display.

  The sound output unit 180 outputs the sound data sent from the processing unit 120 as sound such as sound or buzzer sound. The sound output unit 180 is realized by, for example, a speaker or a buzzer.

  The vibration unit 190 vibrates according to the vibration data sent from the processing unit 120. This vibration is transmitted to the notification device 3, and a user wearing the notification device 3 can feel the vibration. The vibration unit 190 is realized by, for example, a vibration motor.

  The processing unit 120 includes, for example, a CPU, a DSP, an ASIC, and the like, and performs various arithmetic processes and control processes by executing a program stored in the storage unit 130 (recording medium). For example, the processing unit 120 performs various types of processing according to operation data received from the operation unit 150 (processing for sending measurement start / measurement end commands to the communication unit 140, display processing according to operation data, sound output processing, and the like), Processing for receiving output information during traveling from the communication unit 140, generating text data and image data corresponding to the motion analysis information and sending them to the display unit 170, and generating sound data corresponding to the motion analysis information to the sound output unit 180 A process of sending and vibration data corresponding to the motion analysis information are generated and sent to the vibration unit 190. Further, the processing unit 120 performs processing for generating time image data corresponding to the time information received from the time measuring unit 160 and sending the time image data to the display unit 170.

For example, if there is an exercise index whose left-right difference rate is worse than the reference value, the processing unit 120 notifies the display unit 170 of a value of the exercise index whose left-right difference rate is worse than the reference value. The processing unit 120 may generate different types of sounds and vibrations according to the types of exercise indices that are worse than the reference values, or change the types of sounds and vibrations depending on the degree of worseness than the reference values for each exercise index. Also good. When there are a plurality of exercise indices that are worse than the reference value, the processing unit 120 generates a type of sound or vibration corresponding to the worst exercise index, and, for example, as shown in FIG. In addition, information on all bad exercise index values and reference values may be displayed on the display unit 170.

  The motion index to be compared with the reference value may be all motion indexes included in the running output information, or may be only a specific motion index determined in advance, or the user may use the operation unit 150 or the like. May be selected by operating.

  Even without looking at the information displayed on the display unit 170, the user can continue traveling while grasping which exercise index is the worst and how bad from the type of sound or vibration. Furthermore, the user can also accurately recognize the difference between the values of all exercise indices that are worse than the reference value and the reference value by looking at the information displayed on the display unit 170.

  In addition, the motion index that is a target for generating sound and vibration may be selectable from among motion indexes that are compared with a reference value by the user operating the operation unit 150 or the like. Also in this case, for example, the values of all exercise indices and reference value information worse than the reference value may be displayed on the display unit 170.

  Further, the user sets a notification cycle (for example, setting for generating a sound or vibration for 5 seconds every minute) via the operation unit 150, and the processing unit 120 is used according to the set notification cycle. A person may be notified.

  In the present embodiment, the processing unit 120 acquires the travel result information transmitted from the motion analysis device 2 via the communication unit 140 and displays the travel result information on the display unit 170. For example, as illustrated in FIG. 23B, the processing unit 120 displays the average value of each exercise index during the traveling of the user included in the traveling result information on the display unit 170. The user can immediately recognize whether each exercise index is good or bad by looking at the display unit 170 after the end of travel (after performing the measurement end operation).

1-4-2. Processing Procedure FIG. 24 is a flowchart illustrating an example of a notification processing procedure performed by the processing unit 120. The processing unit 120 executes the notification process according to the procedure of the flowchart of FIG. 20, for example, by executing the program stored in the storage unit 130.

  As shown in FIG. 24, the processing unit 120 first waits until the processing unit 120 acquires operation data for starting measurement from the operation unit 150 (N in S410), and acquires the operation data for starting measurement (S410). (Y in S410), a measurement start command is transmitted to the motion analysis apparatus 2 via the communication unit 140 (S420).

  Next, every time the processing unit 120 acquires the traveling output information from the motion analysis apparatus 2 via the communication unit 140 until the operation data indicating the end of measurement is acquired from the operation unit 150 (N in S470) ( (Y of S430), the value of each motion index included in the acquired traveling output information is compared with each reference value acquired in S400 (S440).

  If there is an exercise index that is worse than the reference value (Y in S450), the processing unit 120 generates information on an exercise index that is worse than the reference value, via the sound output unit 180, the vibration unit 190, and the display unit 170. The user is notified by sound, vibration, character, etc. (S460).

  On the other hand, when there is no exercise index worse than the reference value (N in S450), the processing unit 120 does not perform the process in S460.

  Then, when the processing unit 120 acquires the operation data of the measurement end from the operation unit 150 (Y in S470), the processing unit 120 acquires the travel result information from the motion analysis device 2 via the communication unit 140 and causes the display unit 170 to display the travel result information. (S480), the notification process is terminated.

  As described above, the user can travel while recognizing the traveling state based on the information notified in S450. In addition, the user can recognize the traveling result immediately after the traveling based on the information displayed in S480.

1-5. Information analysis apparatus 1-5-1. Configuration of Information Analysis Device FIG. 25 is a functional block diagram illustrating a configuration example of the information analysis device 4. As shown in FIG. 25, the information analysis device 4 includes a processing unit 420, a storage unit 430, a communication unit 440, an operation unit 450, a communication unit 460, a display unit 470, and a sound output unit 480. However, the information analysis device 4 of the present embodiment may have a configuration in which some of these components are deleted or changed, or other components are added.

  The communication unit 440 performs data communication between the communication units 40 (see FIG. 3) of the motion analysis apparatus 2 and processes a transmission request command for requesting transmission of motion analysis information designated according to operation data. Processing is received from the unit 420 and transmitted to the communication unit 40 of the motion analysis device 2, and the motion analysis information is received from the communication unit 40 of the motion analysis device 2 and sent to the processing unit 420.

  The communication unit 460 performs data communication with the server 5, and receives processing data to be registered from the processing unit 420 and transmits it to the server 5 (processing for registering driving data), editing of driving data, A process of receiving management information corresponding to operation data such as deletion and replacement from the processing unit 420 and transmitting it to the server 5 is performed.

  The operation unit 450 performs a process of acquiring operation data from the user (operation data such as registration, editing, deletion, and replacement of travel data) and sending it to the processing unit 420. The operation unit 450 may be, for example, a touch panel display, a button, a key, a microphone, or the like.

  The display unit 470 displays the image data and text data sent from the processing unit 420 as characters, graphs, tables, animations, and other images. The display unit 470 is realized by a display such as an LCD, an organic EL display, or an EPD, and may be a touch panel type display. In addition, you may make it implement | achieve the function of the operation part 450 and the display part 470 with one touchscreen type display.

  The sound output unit 480 outputs the sound data sent from the processing unit 420 as sound such as sound or buzzer sound. The sound output unit 480 is realized by, for example, a speaker or a buzzer.

  The storage unit 430 includes, for example, a recording medium that stores programs and data such as a ROM, a flash ROM, a hard disk, and a memory card, and a RAM that is a work area of the processing unit 420. The storage unit 430 (any recording medium) stores an analysis program 432 that is read by the processing unit 420 and that executes analysis processing.

The processing unit 420 includes, for example, a CPU, a DSP, an ASIC, and the like, and performs various arithmetic processes and control processes by executing various programs stored in the storage unit 430 (recording medium). For example, the processing unit 420 transmits a transmission request command for requesting transmission of exercise analysis information designated according to the operation data received from the operation unit 450 to the exercise analysis device 2 via the communication unit 440, and the communication unit In response to the process of receiving the motion analysis information from the motion analysis device 2 via 440 and the operation data received from the operation unit 450, the travel data including the motion analysis information received from the motion analysis device 2 is generated and communicated. Processing to transmit to the server 5 via the unit 460 is performed. Further, the processing unit 420 performs processing for transmitting management information corresponding to the operation data received from the operation unit 450 to the server 5 via the communication unit 460. In addition, the processing unit 420 transmits a transmission request of the evaluation target travel data selected according to the operation data received from the operation unit 450 to the server 5 through the communication unit 460, and transmits the server 5 through the communication unit 460. 5 to receive the evaluation target travel data. Further, the processing unit 420 analyzes the travel data to be evaluated selected according to the operation data received from the operation unit 450 to generate analysis information that is analysis result information, and generates text data, image data, and sound data. Etc., and the processing to be sent to the display unit 470 and the sound output unit 480.

  In particular, in the present embodiment, the processing unit 420 functions as the motion analysis information acquisition unit 422 and the analysis information generation unit 424 by executing the analysis program 432 stored in the storage unit 430. However, the processing unit 420 may receive and execute the analysis program 432 stored in an arbitrary storage device (recording medium) via a network or the like.

  The motion analysis information acquisition unit 422 performs processing for acquiring motion analysis information, which is information on the analysis result of the motion of the user to be analyzed, from the database of the server 5 (or from the motion analysis device 2). The motion analysis information acquired by the motion analysis information acquisition unit 422 is stored in the storage unit 430. This motion analysis information may be generated by the same motion analysis device 2 or may be generated by any of a plurality of different motion analysis devices 2. The plurality of pieces of motion analysis information acquired by the motion analysis information acquisition unit 422 may include values of various types of motion indices of the user (for example, the above-described various left and right motion indices).

  The analysis information generation unit 424 uses the motion analysis information acquired by the motion analysis information acquisition unit 422 to perform processing for generating analysis information regarding the running ability of the user to be analyzed. For example, the analysis information generation unit 424 may generate the analysis information using the motion analysis information of the user to be analyzed in the period selected in the operation data received from the operation unit 450.

  The analysis information generation unit 424 may generate analysis information that can compare the running ability for each date on which the user to be analyzed has run. For example, if the user runs three times on July 1, July 8, and July 15, the user's driving ability is compared on July 1, July 8, and July 15, respectively. Possible analysis information may be generated.

  In addition, the analysis information generation unit 424 uses the value of the exercise index included in each of the traveling data (exercise analysis information) of a plurality of users including the analysis target user registered in the database of the server 5, Analysis information that can relatively evaluate the running ability of the user to be analyzed may be generated. For example, the plurality of users may be users selected in the operation data received from the operation unit 450. For example, the analysis information generation unit 424 sets 10 as the highest index value and 0 as the lowest index value among the motion index values of the plurality of users, and sets the motion index value of the analysis target user as 0 to 10. It is possible to generate analysis information including information on the converted motion index value by converting to a value, or calculate the deviation value of the motion index value of the user to be analyzed using the motion index values of the plurality of users Then, analysis information including information on the deviation value may be generated.

The processing unit 420 uses the analysis information generated by the analysis information generation unit 424 to generate display data such as text and images and sound data such as sound and outputs the generated data to the display unit 470 and the sound output unit 480. Thereby, the analysis results of a plurality of users to be analyzed are presented from the display unit 470 and the sound output unit 480.

1-5-2. Processing Procedure FIG. 26 is a flowchart illustrating an example of the analysis processing procedure performed by the processing unit 420. The processing unit 420 executes the analysis process according to the procedure of the flowchart of FIG. 26, for example, by executing the analysis program 432 stored in the storage unit 430.

  First, the processing unit 420 waits until operation data specifying an analysis target is acquired (N in S600). When operation data specifying an analysis target is acquired (Y in S600), the processing unit 420 is specified in the operation data. Movement analysis information (specifically, travel data) in a specified period (analysis target period) of the user (analysis target user) is acquired from the database of the server 5 via the communication unit 460 and stored. The data is stored in the unit 430 (S610).

  Next, the processing unit 420 uses the motion analysis information (running data) acquired in S610 to determine the running ability of the designated user (analysis target user) in the specified period (analysis target period). Analysis information is generated and displayed on the display unit 270 (S620).

  Next, if the processing unit 420 does not acquire operation data for changing an analysis target or operation data for completion of analysis (N in S630 and N in S640), the processing unit 420 performs the process in S620.

  The processing unit 420 performs the processing of S610 and S620 again when acquiring the operation data for changing the analysis target (Y of S630), and acquires the operation data of the end of analysis (Y of S640). Exit.

  FIG. 27 is a diagram illustrating an example of analysis information displayed on the display unit 270. In the example of FIG. 27, the analysis information displayed on the display unit 270 includes five motion indices (true under landing, propulsion efficiency, leg flow, running pitch, landing impact) in the running period of the analysis target user. ) And a left-right difference rate compared with the average value of a plurality of selected users. For example, when the user selects a plurality of users as users to be analyzed via the operation unit 450 and selects a period to be analyzed, the processing unit 420 selects the plurality of selected users. The motion analysis information (value of each motion index) in all the travels performed during the period selected by the user is acquired from the database of the server 5. Then, the processing unit 420 calculates the average value of each exercise index of each user, sets the maximum value to 10 and the minimum value to 0 among the plurality of users for each exercise index. The value is converted into a value obtained by relative evaluation, and a radar chart as shown in FIG. 27 is generated. The user can relatively evaluate his / her driving ability among a plurality of selected users (for example, members of the driving team) based on the analysis information as shown in FIG. For example, in the example of FIG. 27, it can be seen that “leg flow” and “underground landing” are poor (is a weak point). Therefore, in the next run, the improvement of the running result is realized by being aware of the improvement of these exercise indices. Can be expected.

1-6. Effect According to the present embodiment, since the determination process can be performed even with one sensor, the motion analysis device 2 and the motion analysis system 1 that can grasp the motion of the left foot and the right foot with a simple configuration can be realized.

  In particular, since the inertial sensor (inertia measurement unit 10) can detect a fine movement of the user who is attached, the motion analysis apparatus 2 that can accurately grasp the motion of the left foot and the right foot even with a single sensor, and The motion analysis system 1 can be realized.

Further, in the walking motion and the running motion, a rotational motion in the yaw direction is generated in the trunk. Therefore, according to the present embodiment, it is possible to realize the motion analysis device 2 and the motion analysis system 1 that can accurately grasp the motions of the left foot and the right foot even if the number of sensors is one.

  In the walking motion and the running motion, a direction perpendicular to the user's traveling direction and the vertical direction is generated. Therefore, according to the present embodiment, it is possible to realize a motion analysis apparatus that can accurately grasp the motions of the left foot and the right foot even with a single sensor.

  Further, according to the present preferred embodiment, since the determination process can be performed based on the running timing (for example, the timing of one step) and the detection result of the sensor, the motion analysis device 2 that can accurately grasp the motion of the left foot and the right foot and The motion analysis system 1 can be realized.

  Moreover, according to this embodiment, the motion analysis apparatus 2 and the motion analysis system 1 which can provide a user with the information regarding the left-right balance of a user's exercise | movement are realizable.

  Moreover, according to this embodiment, the motion analysis apparatus 2 and the motion analysis system 1 which can provide a user with the information regarding the right and left balance of the user's motion in an easy-to-understand manner can be realized.

  Further, according to the present embodiment, it is possible to realize the motion analysis device 2 and the motion analysis system 1 that can notify the user or the like when the right and left balance of the motion of the user is broken.

2. The present invention is not limited to this embodiment, and various modifications can be made within the scope of the present invention. Hereinafter, modified examples will be described. In addition, about the structure same as the said embodiment, the same code | symbol is attached | subjected and repeated description is abbreviate | omitted.

2-1. Sensor In the above embodiment, the acceleration sensor 12 and the angular velocity sensor 14 are built in the motion analysis apparatus 2 integrated as the inertial measurement unit 10, but the acceleration sensor 12 and the angular velocity sensor 14 are not integrated. Good. Alternatively, the acceleration sensor 12 and the angular velocity sensor 14 may be directly worn by the user without being built in the motion analysis device 2. In either case, for example, any one of the sensor coordinate systems may be used as the b frame of the above embodiment, the other sensor coordinate system may be converted into the b frame, and the above embodiment may be applied.

  Moreover, in said embodiment, although the mounting | wearing site | part to the user of the sensor (motion analysis apparatus 2 (IMU10)) was demonstrated as a waist, it is good also as mounting | wearing on parts other than a waist | hip | lumbar. A suitable wearing part is a user's trunk (parts other than limbs). However, it is not limited to the trunk and may be worn on the user's head or feet other than the arms. Further, the number of sensors is not limited to one, and an additional sensor may be attached to another part of the body. For example, sensors may be attached to the waist and legs and the waist and arms.

2-2. Inertial navigation calculation In the above embodiment, the integration processing unit 220 calculates the speed, position, posture angle, and distance of the e frame, and the coordinate conversion unit 250 converts the coordinate into the speed, position, posture angle, and distance of the m frame. However, the integration processing unit 220 may calculate the speed, position, posture angle, and distance of m frames. In this case, the motion analysis unit 24 may perform the motion analysis process using the m-frame speed, position, posture angle, and distance calculated by the integration processing unit 220. Therefore, the speed, position, posture angle by the coordinate conversion unit 250 is sufficient. In addition, the coordinate conversion of distance and distance becomes unnecessary. Further, the error estimation unit 230 may perform error estimation using an extended Kalman filter using the speed, position, and attitude angle of m frames.

  In the above embodiment, the inertial navigation calculation unit 22 performs a part of the inertial navigation calculation using a signal from a GPS satellite. However, a global navigation satellite system (GNSS) other than GPS is used. ) And positioning satellites other than GNSS may be used. For example, one or more satellite positioning systems such as WAAS (Wide Area Augmentation System), QZSS (Quasi Zenith Satellite System), GLONASS (GLObal NAvigation Satellite System), GALILEO, and BeiDou (BeiDou Navigation Satellite System) are used. May be. Further, an indoor positioning system (IMES: Indoor Messaging System) or the like may be used.

  In the above embodiment, the travel detection unit 244 detects the travel cycle at the timing when the acceleration of the user's vertical movement (z-axis acceleration) is equal to or greater than the threshold value, but is not limited thereto. For example, the traveling cycle may be detected at a timing at which the vertical movement acceleration (z-axis acceleration) changes from positive to negative (or timing from negative to positive). Alternatively, the travel detection unit 244 calculates the vertical movement speed (z-axis speed) by integrating the vertical movement acceleration (z-axis acceleration), and uses the calculated vertical movement speed (z-axis speed) to calculate the travel cycle. May be detected. In this case, for example, the travel detection unit 244 may detect the travel cycle at a timing when the speed crosses the threshold value near the median value between the maximum value and the minimum value by increasing the value or by decreasing the value. Further, for example, the travel detection unit 244 may calculate a combined acceleration of the x-axis, the y-axis, and the z-axis, and detect the travel cycle using the calculated combined acceleration. In this case, for example, the travel detection unit 244 may detect the travel cycle at a timing when the resultant acceleration crosses the threshold value near the median value between the maximum value and the minimum value by increasing the value or by decreasing the value. .

  Further, in the above embodiment, the error estimation unit 230 uses speed, posture angle, acceleration, angular velocity, and position as state variables and estimates these errors using an extended Kalman filter. The error may be estimated using a part of acceleration, angular velocity, and position as state variables. Alternatively, the error estimating unit 230 may estimate the error using a state variable (for example, a moving distance) other than the speed, the posture angle, the acceleration, the angular velocity, and the position as a state variable.

  In the above-described embodiment, the extended Kalman filter is used for error estimation by the error estimation unit 230, but other estimation means such as a particle filter or an H∞ (H infinity) filter may be used.

2-3. Motion Analysis Processing In the above embodiment, the motion analysis device 2 performs motion analysis information (motion index) generation processing, but the motion analysis device 2 uses the measurement data of the inertial measurement unit 10 or the calculation result of the inertial navigation calculation ( (Calculation data) is transmitted to the server 5, and the server 5 uses the measurement data or the calculation data to generate motion analysis information (motion index) (functions as a motion analysis device) and stores it in the database. Also good.

  Further, for example, the motion analysis device 2 may generate motion analysis information (motion index) using the user's biological information. Examples of biological information include skin temperature, center temperature, oxygen consumption, mutation between beats, heart rate, pulse rate, respiratory rate, skin temperature, center body temperature, heat flow, electric skin reaction, electromyogram (EMG) ), Electroencephalogram (EEG), electrooculogram (EOG), blood pressure, oxygen consumption, activity, beat-to-beat variation, electric skin reaction, and the like. The motion analysis device 2 may include a device that measures biological information, or the motion analysis device 2 may receive biological information measured by the measurement device. For example, the user wears a wristwatch-type pulsometer or runs with the Hartley sensor wrapped around the chest with a belt, and the motion analyzer 2 uses the measured value of the pulsometer or the Hartley sensor to You may calculate the heart rate while driving.

Moreover, in the said embodiment, although each exercise | movement index contained in exercise | movement analysis information is a parameter | index regarding a user's technical ability, exercise | movement analysis information may also contain the exercise | movement index regarding endurance. For example, the exercise analysis information is a heart rate reserved (HRR) calculated as (heart rate−resting heart rate) ÷ (maximum heart rate−resting heart rate) × 100 as an exercise index related to endurance. May be included. For example, each time each athlete runs, the notification device 3 is operated to input a heart rate, a maximum heart rate, and a resting heart rate, or the device is run with a heart rate monitor, and the motion analysis device 2 notifies the notification device. 3 or the heart rate, maximum heart rate, and resting heart rate values may be obtained from a heart rate monitor to calculate a reserve heart rate (HRR) value.

  Further, in the above-described embodiment, motion analysis in human travel is targeted, but the present invention is not limited to this, and can be similarly applied to motion analysis in walking and travel of moving objects such as animals and walking robots. In addition to running, apply to a wide variety of exercises such as mountain climbing, trail running, skiing (including cross country and ski jumping), snowboarding, swimming, cycling, skating, golf, tennis, baseball, rehabilitation, etc. Can do. As an example, when applied to skis, for example, it may be determined whether the car has been carved cleanly or the skis have shifted from the variation in vertical acceleration when the skis are pressed. The difference between the right foot and the left foot and the slipping ability may be determined from the trajectory of the vertical acceleration change. Alternatively, it is possible to analyze how close the locus of change in angular velocity in the yaw direction is to a sine wave and determine whether the user is on the ski, or which is the locus of change in angular velocity in the roll direction. You may analyze whether it is close to a sine wave, and determine whether smooth slipping has been achieved.

2-4. Notification Process In the above embodiment, the notification device 3 notifies the user by sound or vibration when there is an exercise index worse than the reference value, but there is an exercise index better than the reference value. In addition, the user may be notified by sound or vibration.

Moreover, in said embodiment, although the alerting | reporting apparatus 3 has performed the comparison process of the value of each exercise | movement index and a reference value, the exercise | movement analysis apparatus 2 performs this comparison process, and according to the comparison result, the alerting | reporting apparatus 3 You may control the output and display of sound and vibration of
Further, in the above embodiment, the notification device 3 is a wristwatch type device, but is not limited to this, and is not limited to the wristwatch type portable device (head mounted display (HMD) or user's waist). Or a portable device (such as a smartphone) that is not wearable. When the notification device 3 is a head-mounted display (HMD), the display portion is sufficiently larger than the display portion of the wristwatch-type notification device 3 and has good visibility. So, for example, you may display information on the running history of the user up to now, or a virtual runner created based on the time (time set by the user, self-record, celebrity record, world record, etc.) A traveling image may be displayed.

2-5. Analysis Processing In the above embodiment, the information analysis device 4 performs the analysis processing, but the server 5 performs the analysis processing (functions as an information analysis device), and the server 5 sends the analysis information to the display device via the network. You may send it.

  In the above embodiment, the user's travel data (motion analysis information) is stored in the database of the server 5, but may be stored in a database constructed in the storage unit 430 of the information analysis device 4. That is, the server 5 may not be provided.

2-6. Others For example, the motion analysis device 2 or the notification device 3 may calculate the user's score from the input information or the analysis information, and notify the user during or after traveling. For example, the numerical value of each exercise index can be
For example, it may be divided into 5 stages or 10 stages), and a score may be determined for each stage. In addition, for example, the motion analysis device 2 or the notification device 3 may assign a score according to the type and number of motion indices that have obtained good results, or may calculate and display a total score.

  In the above embodiment, the GPS unit 50 is provided in the motion analysis device 2, but may be provided in the notification device 3. In this case, the processing unit 120 of the notification device 3 receives GPS data from the GPS unit 50 and transmits it to the motion analysis device 2 via the communication unit 140, and the processing unit 20 of the motion analysis device 2 performs GPS via the communication unit 40. Data may be received and the received GPS data may be added to the GPS data table 320.

  In the above embodiment, the motion analysis device 2 and the notification device 3 are separate bodies, but the motion analysis device 2 and the notification device 3 may be integrated.

  In the above embodiment, the motion analysis apparatus 2 is mounted on the user. However, the present invention is not limited to this, and an inertial measurement unit (inertial sensor) or a GPS unit is mounted on the user's torso or the like. (Inertial sensor) and GPS unit send detection results to mobile information devices such as smartphones, stationary information devices such as personal computers, or servers via a network, and use the detection results received by these devices The user's movement may be analyzed. Alternatively, an inertial measurement unit (inertial sensor) or GPS unit attached to the user's torso or the like records the detection result on a recording medium such as a memory card, and the information medium such as a smartphone or personal computer records the recording medium. The motion analysis process may be performed by reading the detection result from the medium.

  Each embodiment and each modification mentioned above are examples, and are not necessarily limited to these. For example, it is possible to appropriately combine each embodiment and each modification.

  The present invention includes configurations that are substantially the same as the configurations described in the embodiments (for example, configurations that have the same functions, methods, and results, or configurations that have the same objects and effects). In addition, the invention includes a configuration in which a non-essential part of the configuration described in the embodiment is replaced. In addition, the present invention includes a configuration that exhibits the same operational effects as the configuration described in the embodiment or a configuration that can achieve the same object. In addition, the invention includes a configuration in which a known technique is added to the configuration described in the embodiment.

DESCRIPTION OF SYMBOLS 1 ... Motion analysis system, 2 ... Motion analysis apparatus, 3 ... Notification apparatus, 4 ... Information analysis apparatus, 5 ... Server, 10 ... Inertial measurement unit (IMU), 12 ... Acceleration sensor, 14 ... Angular velocity sensor, 16 ... Signal processing , 20 ... processing unit, 22 ... inertial navigation calculation unit, 24 ... motion analysis unit, 30 ... storage unit, 40 ... communication unit, 50 ... GPS unit, 110 ... output unit, 120 ... processing unit, 130 ... storage unit, 140: Communication unit, 150: Operation unit, 160: Timing unit, 170 ... Display unit, 180 ... Sound output unit, 190 ... Vibration unit, 210 ... Bias removal unit, 220 ... Integration processing unit, 230 ... Error estimation unit, 240 ... travel processing unit, 241 ... calculation unit, 242 ... acquisition unit, 243 ... left / right determination unit, 244 ... travel detection unit, 245 ... step length calculation unit, 246 ... pitch calculation unit, 250 ... coordinate conversion unit, 300 ... motion analysis 302, inertial navigation calculation program, 304 ... motion analysis information generation program, 310 ... sensing data table, 320 ... GPS data table, 330 ... geomagnetic data table, 340 ... calculation data table, 350 ... motion analysis information, 351 ... input Information, 352 ... Basic information, 353 ... First analysis information, 354 ... Second analysis information, 355 ... Left / right difference ratio, 420 ... Processing unit, 422 ... Motion analysis information acquisition unit, 424 ... Analysis information generation unit, 430 ... Memory , 432 ... analysis program, 440 ... communication unit, 450 ... operation unit, 460 ... communication unit, 470 ... display unit, 480 ... sound output unit

Claims (13)

An acquisition unit that is attached to a user and acquires a detection result from a sensor that detects information about the user's movement;
Based on the detection result, a left / right determination unit that performs a determination process for determining which period is a first period that includes the user's right foot contact period or a second period that includes the user's left foot contact period When,
Including a motion analysis device. The motion analysis apparatus according to claim 1,
The motion analysis device is an inertial sensor that detects at least one of an angle and an angular velocity. The motion analysis apparatus according to claim 1 or 2,
The left / right determination unit is a motion analysis device that performs the determination process based on an angular velocity in the yaw direction of the user. The motion analysis apparatus according to claim 1 or 2,
The left / right determination unit is a motion analysis apparatus that performs the determination process based on acceleration in a direction orthogonal to both the user's traveling direction and the vertical direction. The motion analysis apparatus according to claim 1 or 2,
The left / right determination unit is a motion analysis apparatus that performs the determination process based on an angle in the yaw direction of the user. In the kinematic analysis device according to any one of claims 1 to 5,
It further includes a travel detection unit that detects the travel timing of the user,
The left-right determination unit is a motion analysis device that performs the determination process based on the travel timing. The motion analysis apparatus according to any one of claims 1 to 6,
A calculation unit for calculating an index related to the user's movement;
The calculation unit is a motion analysis device that calculates the index in the first period and the index in the second period separately. The motion analysis apparatus according to claim 7,
The calculation unit is a motion analysis device that calculates a difference between the index in the first period and the index in the second period. The motion analysis apparatus according to claim 8,
The motion analysis apparatus, wherein the index is at least one of true landing, propulsion efficiency, leg flow, travel pitch, and landing impact. The motion analysis apparatus according to claim 8 or 9,
The motion analysis apparatus further includes an output unit that outputs difference information that is information relating to the difference when the difference is equal to or greater than a reference value. A motion analysis apparatus according to claim 10;
A notification device that outputs the difference information output by the motion analysis device;
Including motion analysis system. An acquisition step of acquiring a detection result from a sensor that is attached to the user and detects information related to the user's movement;
Left and right determination step of performing determination processing for determining which period is a first period including the user's right foot contact period and a second period including the user's left foot contact period based on the detection result When,
A motion analysis method. An acquisition unit that is attached to a user and acquires a detection result from a sensor that detects information about the user's movement;
Based on the detection result, a left / right determination unit that performs a determination process for determining which period is a first period that includes the user's right foot contact period or a second period that includes the user's left foot contact period When,
A motion analysis program that makes a computer function.